A surface-underwater dual-purpose towing transfer device, a towing system and a use method

Abstract

The application provides a water surface and underwater dual-purpose towing transfer device, a towing system and a use method, and belongs to the technical field of underwater detection equipment. The transfer device comprises a main body, a depth-keeping hydrofoil assembly, an electric control cabin and a water surface / underwater operation weight module. The main body is connected with a mother ship through a first towing cable and connected with a detection tow body through a second towing cable. The electric control cabin comprises a cabin body, a control module and a voltage conversion module. The voltage conversion module is used for converting the voltage of the power transmitted by the first towing cable and transmitting the converted power to the detection tow body through the second towing cable. The water surface operation weight module and the underwater operation weight module are alternatively detachably installed at the bottom of the main body. The water surface operation weight module makes the transfer device float on the water surface to perform water surface operation, and the underwater operation weight module makes the transfer device dive to a target water depth to perform underwater operation. The application realizes the water surface and underwater dual-operation function and guarantees the power supply and communication of the detection tow body.

Description

Technical Field

[0001] This invention relates to the field of underwater exploration equipment technology, and in particular to a dual-purpose surface and underwater towed transfer device; it also relates to a towing system including the above-mentioned dual-purpose surface and underwater towed transfer device and a method of using it. Background Technology

[0002] Underwater gravity and magnetic field measurements contain a wealth of geophysical field information, and the results can be widely applied in oil exploration, mineral exploration, and geophysical research. In the field of marine safety, high-precision marine gravity and magnetic field data are an important component of basic marine environmental information, and high-resolution marine gravity and magnetic field maps can be used for underwater navigation aids.

[0003] To obtain higher-precision underwater gravity and magnetic data, a mother ship is needed to tow a probe tethered by a towline. The probe tether is then deployed to a depth of, for example, 1000 meters, and stabilized within a certain depth range to collect gravity and magnetic data. The towline bears the tension and is used for power and signal transmission. In open-ocean environments, the probe tether needs initial calibration via satellite before submerging to provide a reliable initial benchmark for underwater detection. However, the electromagnetic fields generated by the high-power equipment on the mother ship can cause electromagnetic interference to the probe tether, reducing the accuracy of the initial calibration data and affecting the reliability of subsequent detection results. If the probe tether is deployed far from the mother ship for initial calibration, the excessively long towline makes it difficult to guarantee the power supply quality from the mother ship, and long-distance deployment also leads to operational complexity and high costs. Furthermore, after the probe tether reaches the target depth, it is difficult to maintain a stable depth range due to ocean current disturbances, resulting in data accuracy that fails to meet high-precision detection requirements. Summary of the Invention

[0004] The purpose of this invention is to provide a dual-purpose surface and underwater towing transfer device, towing system and method of use, to solve the above-mentioned technical problems in the prior art.

[0005] To achieve the above-mentioned technical objectives, the present invention adopts the following technical solution:

[0006] According to a first aspect of the present invention, a dual-purpose surface and underwater towed transfer device is provided, comprising:

[0007] The main body is used to connect to the mother ship via a first tow cable and to the detection tow body via a second tow cable;

[0008] A depth-fixed hydrofoil assembly, which is connected to the main body;

[0009] The electrical control cabin includes a cabin body fixedly connected to the main body, and a control module and a transformer module disposed in the cabin body. The transformer module is used to convert the power transmitted by the first tow cable into voltage and then transmit it to the detection tow body through the second tow cable.

[0010] The surface operation counterweight module and the underwater operation counterweight module are detachably installed at the bottom of the main body. When the surface operation counterweight module is installed on the main body, it is used to make the transfer device float on the water surface with the bottom of the main body facing down to perform surface operations. When the underwater operation counterweight module is installed on the main body, it is used to make the transfer device submerge to the target water depth to perform underwater operations.

[0011] In one embodiment of the present invention, the water surface operation counterweight module includes a first counterweight base and a buoyancy block, wherein the first counterweight base is supported on the bottom of the buoyancy block.

[0012] In one embodiment of the present invention, the underwater operation counterweight module includes a second counterweight base and a counterweight block assembly, the second counterweight base being supported at the bottom of the counterweight block assembly, and the counterweight block assembly including a plurality of counterweight blocks.

[0013] In one embodiment of the present invention, a release device is connected to the main body, the second counterweight base has a hooking component, the underwater operation counterweight module is suspended from the release device through the hooking component, the release device is configured to release the underwater operation counterweight module, and the underwater operation counterweight module is configured to detach from the main body after being released.

[0014] In one embodiment of the present invention, limiting plates are respectively provided on opposite sides of the second counterweight base, and the counterweight block assembly is restricted between the limiting plates on both sides. The limiting plates are in a limiting cooperation with the main body. A rolling component is rotatably connected to the limiting plate, and the rolling component abuts against the surface of the main body.

[0015] In one embodiment of the present invention, the main body includes a frame, a head deflector fixedly connected to the front end of the frame, a tail deflector fixedly connected to the rear end of the frame, and a middle plate fixedly connected to the middle part of the frame. The head deflector, the tail deflector and the middle plate form a receiving cavity. The release device and the electrical control compartment are respectively disposed in the receiving cavity. The receiving cavity has an installation port for installing the surface operation counterweight module or the underwater operation counterweight module below it.

[0016] In one embodiment of the present invention, a heat-conducting module is provided inside the cabin, the heat-conducting module surrounds the transformer module in the circumferential direction and abuts against the inner wall of the cabin, and the gap between the heat-conducting module and the inner wall of the cabin is filled with heat-conducting material.

[0017] A heat dissipation module is provided outside the cabin. The heat dissipation module is arranged circumferentially and is attached to the outer wall of the cabin. The heat dissipation module is located on the cabin at the position corresponding to the transformer module.

[0018] In one embodiment of the present invention, a mounting frame is fixedly connected to the main body, and a towing assembly is connected to the mounting frame. The towing assembly is located on the top of the main body. The towing assembly includes a towing tension damper, an adapter frame, and a connecting shaft. The adapter frame is connected to the mounting frame. The towing tension damper and the adapter frame are hinged through the connecting shaft. A portion of the first towing cable is fixedly connected to the towing tension damper.

[0019] According to a second aspect of the present invention, a towing system is also provided, including the above-described surface and underwater dual-purpose towing transfer device, and further including a mother ship, a detection tow body, a first tow cable and a second tow cable, wherein the main body of the surface and underwater dual-purpose towing transfer device is connected to the mother ship via the first tow cable and to the detection tow body via the second tow cable.

[0020] According to a third aspect of the present invention, a method of using the above-described towing system is also provided, comprising the following steps:

[0021] Step S1: Install the surface operation counterweight module of the dual-purpose surface and underwater towing transfer device onto the main body;

[0022] Step S2: Place the surface and underwater dual-purpose towing transfer device and the detection tow body on the water surface, and tow the surface and underwater dual-purpose towing transfer device and the detection tow body on the water surface by the mother ship.

[0023] Step S3: Perform initial calibration on the probe tow body;

[0024] Step S4: Retrieve the surface and underwater dual-purpose towing transfer device to the mother ship, disassemble the surface operation counterweight module, and then install the underwater operation counterweight module onto the main body;

[0025] Step S5: Deploy the surface and underwater dual-purpose towed transfer device in the water. The surface and underwater dual-purpose towed transfer device drives the detection tow body to dive to the target water depth.

[0026] At least one beneficial effect of the present invention is:

[0027] The dual-purpose surface and underwater towing transfer device of this invention achieves switching between surface and underwater operation modes by setting interchangeable surface operation counterweight modules and underwater operation counterweight modules. It combines the functions of a surface variable voltage towing platform and a depth-fixing device, significantly reducing equipment procurement and maintenance costs. When equipped with the surface operation counterweight module, this transfer device can convert the mother ship's power to power suitable for the detection towed body through the variable voltage module. By combining the lengths of the first and second towing cables, the detection towed body can be deployed over a long distance for initial calibration. While meeting the power supply requirements of the detection towed body, it greatly reduces the cost of the mother ship. The electromagnetic interference is minimized, ensuring the accuracy of the initial calibration of the probe towed body. Furthermore, the surface operation counterweight module lowers the device's center of gravity, giving the transfer device anti-tipping and wave-resistant properties. It is less prone to swaying and overturning due to wave interference during towing on the sea surface, providing stable traction for the initial calibration of the probe towed body, further ensuring the stability and accuracy of the initial calibration. When equipped with the underwater operation counterweight module, this transfer device can act as a depth-fixing device, carrying the probe towed body underwater. Combined with the lift adjustment of the depth-fixing hydrofoil assembly, it can stably maintain the target water depth, thereby keeping the probe towed body at the target water depth and ensuring the accuracy of the detection data.

[0028] Other features and advantages of the invention will become clear from the following detailed description of exemplary embodiments of the invention with reference to the accompanying drawings. Attached Figure Description

[0029] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments of the invention and, together with their description, serve to explain the principles of the invention.

[0030] Figure 1 This is a schematic diagram of the overall structure of an embodiment of the surface and underwater dual-purpose towing transfer device of the present invention;

[0031] Figure 2 This is a bottom view of the main body of an embodiment of the surface and underwater dual-purpose towing transfer device of the present invention;

[0032] Figure 3 This is a schematic diagram of the frame, depth-fixing hydrofoil assembly, electrical control cabin, and towing assembly of an embodiment of the dual-purpose surface and underwater towed transfer device of the present invention.

[0033] Figure 4 This is a schematic diagram of the installation of the surface operation counterweight module in one embodiment of the dual-purpose surface and underwater towing transfer device of the present invention;

[0034] Figure 5 This is a schematic diagram of the installation of an underwater operation counterweight module in one embodiment of the dual-purpose surface and underwater towing transfer device of the present invention;

[0035] Figure 6This is a schematic diagram of the overall structure of the electrical control cabin of an embodiment of the surface and underwater dual-purpose towing transfer device of the present invention;

[0036] Figure 7 This is a schematic diagram of the disassembled structure of the electrical control cabin of an embodiment of the surface and underwater dual-purpose towing transfer device of the present invention;

[0037] Figure 8 This is a cross-sectional view of the electrical control compartment of an embodiment of the surface and underwater dual-purpose towing transfer device of the present invention;

[0038] Figure 9 This is a cross-sectional view of the towing force damper of an embodiment of the dual-purpose surface and underwater towing transfer device of the present invention;

[0039] Figure 10 This is a schematic diagram of the towing system of the present invention performing water surface operations;

[0040] Figure 11 This is a schematic diagram of the towing system of the present invention performing underwater operations.

[0041] The reference numerals and their corresponding component names in the figure are as follows:

[0042] 1. Surface and underwater dual-purpose towing transfer device; 2. First towing cable; 3. Mother ship; 4. Second towing cable; 5. Detection towed body;

[0043] 11. Main body; 110. Mounting port; 111. Frame; 112. Head fairing; 113. Tail fairing; 114. Middle plate; 1141. Clearance groove; 115. Buoyancy material; 116. Tail support frame;

[0044] 12. Depth-fixed hydrofoil assembly;

[0045] 13. Electrical control compartment; 131. Compartment body; 132. Control module; 133. Transformer module; 134. Heat conduction module; 135. Heat dissipation module;

[0046] 14. Surface operation counterweight module; 141. First counterweight base; 142. Buoyancy block;

[0047] 15. Underwater operation counterweight module; 151. Second counterweight base; 1511. Hanging component; 152. Counterweight block assembly; 153. Limiting plate; 154. Rolling component;

[0048] 16. Release device;

[0049] 17. Mounting bracket;

[0050] 18. Towing assembly; 181. Towing force damper; 1811. Outer cylinder; 1812. Conduit; 1813. Elastic buffer; 1814. Inner shaft; 182. Adapter frame; 183. Connecting shaft; 184. Limiting component; 185. Hinge shaft. Detailed Implementation

[0051] Various exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. It should be noted that, unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps set forth in these embodiments do not limit the scope of the invention.

[0052] Techniques, methods, and equipment known to those skilled in the art may not be discussed in detail, but where appropriate, they should be considered part of the specification.

[0053] In this article, terms such as "up," "down," "top," "bottom," "front," "back," "left," and "right" are used only to indicate the relative positional relationship between related parts, rather than to define the absolute position of these related parts.

[0054] In this article, "first," "second," etc., are used only to distinguish one another, and not to indicate degree of importance, order, or prerequisite for each other.

[0055] In this document, terms such as “equal” and “same” are not strict mathematical and / or geometric limitations, but also include errors that are understandable to those skilled in the art and permissible in manufacturing or use.

[0056] In this document, unless otherwise stated, "multiple" means two or more.

[0057] In this document, unless otherwise expressly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly, for example, as a fixed connection, a detachable connection, or an integral connection. Those skilled in the art will understand the specific meaning of these terms in this document based on the specific circumstances.

[0058] Examples of various specific processes and materials are provided in this document, but those skilled in the art will recognize the application of other processes and / or the use of other materials.

[0059] Whenever possible, the various aspects and features described and illustrated in this specification may be applied individually.

[0060] Figures 1 to 11The present invention illustrates a surface and underwater dual-purpose towing transfer device 1, which includes a main body 11, a depth-fixed hydrofoil assembly 12, an electrical control cabin 13, a surface operation counterweight module 14, and an underwater operation counterweight module 15.

[0061] The main body 11 is used to connect to the mother ship 3 via the first tow cable 2 and to the probe tow body 5 via the second tow cable 4. The depth-fixing hydrofoil assembly 12 is connected to the main body 11. The electrical control cabin 13 includes a cabin 131 fixedly connected to the main body, and a control module 132 and a transformer module 133 disposed within the cabin 131. The transformer module 133 is used to convert the voltage of the power transmitted by the first tow cable 2 and then transmit it to the probe tow body 5 via the second tow cable 4. The surface operation counterweight module 14 and the underwater operation counterweight module 15 are optionally detachably installed in the mounting port 110 at the bottom of the main body 11. When the surface operation counterweight module 14 is installed in the mounting port, it is used to make the transfer device float on the water surface with the bottom of the main body facing down to perform surface operations. When the underwater operation counterweight module 15 is installed in the mounting port 110, it is used to make the transfer device submerge to the target water depth to perform underwater operations.

[0062] The first tow cable 2 is used to realize the power and signal transmission between the mother ship 3 and the transfer device, and the second tow cable 4 is used to realize the power and signal transmission between the detection tow body 5 and the transfer device.

[0063] The weight of the surface operation counterweight module 14 is less than the weight of the underwater operation counterweight module 15. Other buoyancy materials 115 can be added inside the main body 11 to adjust the overall buoyancy characteristics. The overall weight and buoyancy of the transfer device can be adjusted by installing the surface operation counterweight module 14 or the underwater operation counterweight module 15.

[0064] After the surface operation counterweight module 14 is installed on the main body 11, the transformer module 133 can convert the power from the mother ship 3 into power suitable for the probe towed body 5, ensuring a stable power supply to the probe towed body 5. The combination of the first tow cable 2 and the second tow cable 4 enables the probe towed body 5 to be deployed over a long distance for initial calibration, thereby significantly reducing the electromagnetic interference from the mother ship 3 to the probe towed body 5 and ensuring the accuracy of the initial calibration. This meets the power supply requirements of the probe towed body while avoiding electromagnetic interference from the mother ship. Furthermore, the surface operation counterweight module 14 increases the weight at the bottom of the main body 11, shifting the center of gravity of the transfer device towards the bottom of the main body 11. This allows the main body 11 to float on the water with its bottom facing down, and also gives the main body 11 anti-capsulation and anti-wave performance. When towed on the sea surface, it is less likely to sway or overturn due to wave interference, providing stable traction for the initial calibration of the probe towed body 5, further ensuring the stability and accuracy of the initial calibration.

[0065] After the underwater operation counterweight module 15 is installed on the main body, sufficient gravity enables the main body 11 to overcome its own buoyancy and the upward pull of the first tow cable 2, thus driving the probe towed body 5 to submerge together. Upon reaching the target water depth, the hydrodynamic lift generated by the depth-stabilizing hydrofoil assembly 12 balances the overall weight, buoyancy, and towing pull of the transfer device, ensuring the entire transfer device remains stably at the target water depth. This, in turn, keeps the probe towed body 5 at a stable operating depth, effectively improving the accuracy of the detection data.

[0066] like Figure 3 As shown, the bottom of the main body 11 has a mounting port 110, which is a concave structure with the opening facing downwards. The surface operation counterweight module 14 or the underwater operation counterweight module 15 is assembled into the mounting port 110 for easy loading and unloading.

[0067] In some embodiments, such as Figure 1 As shown, the depth-fixed hydrofoil assembly 12 includes at least two hydrofoils symmetrically arranged on the left and right sides of the main body 11. A servo motor is installed inside the main body 11, the output end of which is connected to the hydrofoil, and the servo motor is electrically connected to a control module. The control module is used to control the servo motor to adjust the attitude of each hydrofoil.

[0068] In one example, the hydrofoil of the constant depth hydrofoil assembly 12 has a wingspan to mean chord ratio of 1.1, a tip chord to root chord ratio of 0.8, and a sweep angle of 18 degrees.

[0069] In some embodiments, such as Figure 4 As shown, the surface operation counterweight module 14 includes a first counterweight base 141 and a buoyancy block 142, with the first counterweight base 141 supported on the bottom of the buoyancy block 142. The buoyancy of the buoyancy block 142 and the gravity of the first counterweight base 141 work together to make the transfer device present a positive buoyancy state suitable for surface operations. At the same time, the overall center of gravity of the transfer device can be stably controlled in the bottom area of ​​the main body 11, so that the transfer device can stably float on the water surface with the bottom of the main body 11 facing down. This avoids the transfer device from being affected by the waves during the towing process and causing attitude deflection or capsizing, greatly improving the stability of the towing process and providing a stable operational basis for the initial calibration of the towed body.

[0070] The first counterweight base 141 is detachably and fixedly connected to the main body 11. Fixing plates can be fixedly connected to the opposite sides of the first counterweight base 141. The fixing plates have holes for fasteners to pass through. The fixing plates are detachably and fixedly connected to the main body 11 through fasteners, which can be quickly disassembled and replaced without complicated operations. This effectively shortens the preparation time for switching from surface operations to underwater operations and improves the efficiency of detection operations.

[0071] In some embodiments, such as Figure 5As shown, the underwater operation counterweight module 15 includes a second counterweight base 151 and a counterweight block assembly 152. The second counterweight base 151 is supported on the bottom of the counterweight block assembly 152, and the counterweight block assembly 152 includes several counterweight blocks. By increasing or decreasing the number of counterweight blocks, the total weight of the underwater operation counterweight module 15 can be flexibly adjusted to adapt to different target operating water depths and different towing speeds, so that this mid-mounted device can cooperate with the depth-fixed hydrofoil assembly 12 to achieve force balance under different operating requirements and stably maintain the set target water depth.

[0072] Furthermore, several counterweights of the counterweight assembly 152 can be modularly stacked to facilitate quick addition or removal of components.

[0073] The second counterweight base 151 and the counterweight block assembly 152, as well as the stacked counterweight blocks, can be locked to each other through fasteners, locking structures, magnetic components or other positioning methods, so that the underwater operation counterweight module 15 has overall stability.

[0074] The external dimensions of the first counterweight base 141 and the second counterweight base 151 are adapted to the opening size of the mounting port 110, which can reduce water flow resistance and turbulence interference, and help increase installation stability.

[0075] In some embodiments, such as Figure 5 As shown, a release device 16 is connected to the main body 11, and a hanging component 1511 is provided on the second counterweight base 151. The underwater operation counterweight module 15 is suspended from the release device 16 through the hanging component 1511. The release device 16 is configured to release the underwater operation counterweight module 15.

[0076] Specifically, the release device 16 has a controllable hook, which is used to control the hook to be in one of two states: open or closed. When the hook is in the closed state, it can engage the engagement part 1511 of the second counterweight base 151, thereby suspending the second counterweight base 151. When the release device 16 controls the hook to switch to the open state, the hook releases the engagement part 1511, thereby releasing the underwater operation counterweight module 15. The release device 16 is prior art well known to those skilled in the art.

[0077] The mounting component 1511 can be configured as a hook or a ring structure. The mounting component 1511 can be fixedly connected to the middle position of the second counterweight base 151. Several counterweight blocks of the counterweight block assembly 152 are symmetrically stacked on the front and rear sides or left and right sides of the mounting component 1511 so that the center of gravity of the underwater operation counterweight module 15 is centered.

[0078] After the underwater operation counterweight module 15 is released, it detaches from the main body 11 downward from the installation port 110 under its own gravity. The overall weight of the transfer device decreases instantly, the net buoyancy changes from negative to positive, and it quickly floats to the water surface to achieve emergency avoidance and effectively prevent accidents such as the device falling into the deep sea and being lost or the tow cable breaking.

[0079] Release device 16 may be an acoustic response release device, which can perform release action based on the control command of mother ship 3 or preset trigger conditions, so that underwater operation counterweight module 15 is separated from the main body 11.

[0080] The release device 16 can be installed on the main body 11 after the surface operation counterweight module 14 is disassembled, which makes more installation space for the surface operation counterweight module 14 and reduces the weight of the transfer device when it is performing surface operations.

[0081] In this embodiment, as Figure 5 As shown, limit plates 153 are respectively provided on both sides of the second counterweight base 151. The counterweight block assembly 152 is restricted between the limit plates 153 on both sides, and the limit plates 153 are in a limiting cooperation with the main body 11. The limit plates 153 are used to position the second counterweight base 151 on the main body 11, so that the underwater operation counterweight module 15 can be stably suspended, avoiding swaying or displacement during underwater towing, which would cause the center of gravity of the transfer device to be unstable and affect the stability of the depth and the working posture.

[0082] In some embodiments, such as Figure 5 As shown, multiple rolling components 154 are rotatably connected to the limiting plate 153. The surface of the rolling components 154 is in contact with the surface of the main body 11, and the main body 11 is positioned with the limiting plate 153 through the cooperation of the rolling components 154. The rolling components 154 can reduce the frictional resistance with the main body 11. After the underwater operation counterweight module 15 is released and falls downwards, the rolling components 154 roll along the surface of the main body 11, which can prevent the limiting plate 153 from getting stuck with the main body 11 and ensure that the underwater operation counterweight module 15 can smoothly detach from the main body 11.

[0083] Specifically, multiple limiting plates 153 are distributed on the left and right sides of the second counterweight base 151. The bottom end of each limiting plate 153 is fixed to the edge of the second counterweight base 151, forming a lateral constraint on the counterweight assembly 152 to prevent the counterweight from shifting laterally during dragging and to ensure the stability of the center of gravity. Multiple rolling components 154 are installed on the side wall of the limiting plate 153 along the front-back or up-down direction. The rolling components 154 can be cylinders that rotate around a lateral axis or freely rotating balls, and the rolling components 154 protrude from the surface of the limiting plate 153.

[0084] When the underwater operation counterweight module 15 is installed or released in an emergency, the rolling component 154 can roll along the side of the main body 11 to reduce frictional resistance. During assembly, the rolling component 154 can guide the underwater operation counterweight module 15 to be quickly pushed into the mounting port 110 to complete the hook assembly, and can also ensure that the underwater operation counterweight module 15 can be smoothly detached during emergency release, thus improving the reliability of the emergency system.

[0085] The frame 111 has clearance grooves 1141 on the middle plates 114 on both sides to avoid frictional resistance to the limit plates 153.

[0086] Furthermore, such as Figure 5 As shown, a strobe light can be installed on the top of the main body 11. When the main body 11 releases the underwater operation counterweight module 15 and floats to the surface, the strobe light is activated, which can help the staff find the transfer device.

[0087] In some embodiments, such as Figure 3 and Figure 5 As shown, the main body 11 includes a frame 111, and the frame 111 has side beams extending in the front and rear directions on opposite sides. The limiting plate of the underwater operation counterweight module 15 is respectively limited and cooperated with the side beam on the corresponding side. The rolling component 154 abuts against the side of the side beam.

[0088] Furthermore, the limiting plate 153 and the rolling component 154 are fitted on the outer side of the side beams on both sides of the frame 111. Several counterweights of the counterweight assembly 152 are stacked sequentially along the height direction, and the width of the stacked counterweights gradually decreases from bottom to top, thereby forming a gap between the side of the counterweight and the inner side of the frame 111. This gap gradually widens from bottom to top and forms an inward tilt angle α. The angle of the tilt angle α is set to, for example, 2 degrees or 3 degrees, so that the counterweight assembly 152 and the frame 111 can be prevented from getting stuck when the underwater operation counterweight module 15 is released.

[0089] In some embodiments, such as Figure 3 and Figure 5 As shown, a head fairing 112 is fixedly connected to the front end of the frame 111, a tail fairing 113 is fixedly connected to the rear end, and a middle plate 114 is fixedly connected to the middle. The head fairing 112, the tail fairing 113, and the middle plate 114 form a receiving cavity. The mounting port 110 is located below the receiving cavity. The release device 16 and the electronic control compartment 13 are respectively disposed in the receiving cavity and fixedly connected to the frame 111.

[0090] The frame 111, as the load-bearing base of the transfer device, can be assembled into a truss structure by welding aluminum alloy or titanium alloy profiles. It has the characteristics of high strength, corrosion resistance and lightweight, and can withstand axial tension, hydrodynamic load and counterweight module load during towing.

[0091] The head shield 112 is directly fixed to the front end of the frame 111, and the tail shield 113 is fixedly connected to the tail support frame 116 fixedly connected to the rear end of the frame 111. The head shield 112, tail shield 113 and middle plate 114 can all be molded from fiberglass or carbon fiber composite materials. The outer surfaces of the head shield 112 and tail shield 113 are set as smooth streamlined curved surfaces, which can effectively reduce the shape resistance and frictional resistance when the device is towed in water, reduce the interference of water turbulence on the attitude of the device, and at the same time protect the internal functional components and prevent underwater floating objects from directly hitting the internal components.

[0092] In some embodiments, the shapes of the head fairing 112 and the tail fairing 113 are calculated and determined using the Myring line formula.

[0093] Furthermore, the curve equation for the head fairing 112 is as follows:

[0094]

[0095] Where a = 0.6m; D = 0.68m;

[0096] Furthermore, the curve equation for the tail fairing 113 is as follows:

[0097]

[0098] The middle plate 114 is located between the head fairing 112 and the tail fairing 113, and includes multiple cover plates that are fixedly connected to the frame 111. The cover plates avoid the installation port 110 to prevent affecting the entry and exit assembly of the surface operation counterweight module 14 or the underwater operation counterweight module 15.

[0099] In some embodiments, such as Figure 6 and Figure 7 As shown, the electrical control compartment 13's body 131 includes a cylindrical pressure-resistant sealed chamber. Both ends of the chamber are watertightly sealed via flange end caps and O-rings, ensuring stable operation of internal electrical components under deep-sea high-pressure environments. Watertight interfaces can be installed on the flange end caps for transmitting power and control signals. The body 131 can be manufactured using TC4 titanium alloy, and pressure simulation design and pressure tank experiments are conducted to ensure it can withstand the high-pressure conditions of the deep-sea environment.

[0100] like Figure 7 and Figure 8As shown, the control module 132 and the transformer module 133 are arranged axially inside the cabin 131. The transformer module 133 is responsible for converting the high-voltage electricity transmitted by the first tow cable 2 into low-voltage electricity suitable for the electrical components inside the detection tow body 5, and is the main heat source inside the cabin. The control module 132 is a main control board integrating a main control MCU, data acquisition circuit, servo drive circuit, and release control circuit. It is responsible for collecting sensor signals such as depth, attitude, and tow cable tension of the device, controlling the servo action of the depth-fixed hydrofoil assembly 12 through a closed-loop algorithm, executing the unlocking command of the release device 16, and also realizing the functions of power distribution and relay transmission of detection data.

[0101] In some embodiments, such as Figure 6 and Figure 7 As shown, a heat-conducting module 134 is installed inside the body 131 of the electrical control compartment 13. The heat-conducting module 134 surrounds the transformer module 133 circumferentially and is attached to the inner wall of the body 131. The heat generated by the transformer module 133 during operation can be quickly conducted to the surrounding water through the body 131, preventing the transformer module 133 from overheating and causing component failure due to long-term operation.

[0102] Furthermore, the gap between the heat-conducting module 134 and the inner wall of the cabin 131 can be filled with a heat-conducting material, such as thermal grease, which can further improve the heat conduction efficiency.

[0103] In some embodiments, the heat-conducting module 134 includes a plurality of heat-conducting sheets distributed circumferentially along the inner wall of the housing 131, and the heat-conducting sheets are adaptable to the installation space between the transformer module 133 and the housing 131.

[0104] In some embodiments, such as Figure 6 , Figure 7 and Figure 8 As shown, a heat dissipation module 135 is installed outside the body 131 of the electrical control compartment 13. The heat dissipation module 135 is arranged circumferentially and abuts against the outer wall of the body 131. The heat dissipation module 135 increases the contact area with the external water, thereby improving heat exchange efficiency and allowing the heat of the body 131 to be quickly dissipated into the surrounding water. The heat dissipation module 135 can be configured as a one-piece molded metal ring, which has excellent thermal conductivity and ensures high structural strength, making it suitable for underwater high-pressure operating environments and less prone to deformation and damage. The outer wall of the heat dissipation module 135 has a concave-convex structure to increase the surface area for heat dissipation, allowing the water to carry away the heat from the heat dissipation module 135 in a timely manner, thus improving heat dissipation efficiency.

[0105] Furthermore, the heat dissipation module 135 is located at the position of the transformer module 133 in the cabin 131. The heat generated by the transformer module 133 can be conducted from the inside to the outside through the heat conduction module 134 and the cabin 131 to the heat dissipation module 135. The heat dissipation module 135 can quickly dissipate the heat into the surrounding water, ensuring that the operating temperature of the transformer module 133 is suitable, thereby providing stable power to the probe tow body 5.

[0106] The heat conduction module 134 and the heat dissipation module 135 can be made of copper, a material with high thermal conductivity, thereby improving the heat conduction efficiency. The heat conduction module 134 and the heat dissipation module 135 have a simple structure and high reliability, and rely entirely on the towing water flow to achieve heat transfer, which is suitable for the heat dissipation requirements of the underwater sealed pressure-resistant hull 131.

[0107] In some embodiments, such as Figure 5 As shown, a mounting bracket 17 is fixedly connected to the main body 11, and a towing component 18 is connected to the mounting bracket 17. The towing component 18 is located on the top of the main body 11.

[0108] The towing assembly 18 includes a towing force damper 181, an adapter frame 182, and a connecting shaft 183. The adapter frame 182 is movably connected to the mounting frame 17. The towing force damper 181 and the adapter frame 182 are hinged together by the connecting shaft 183. The first towing cable 2 is partially fixedly connected to the towing force damper 181.

[0109] Mounting bracket 17 extends to the top of main body 11. Adapter bracket 182 is hinged to the top of mounting bracket 17 via hinge shafts 185 extending laterally to the left and right. Connecting shaft 183 is configured to tilt upwards from the front end to the rear end. Connecting shaft 183 is connected to the rear end of towing tension damper 181, whose front end extends upwards at an angle. Adapter bracket 182 can flexibly adjust its angle to adapt to changes in the direction of tension during the towing of the transfer device by the first towing cable 2. It can automatically adapt to changes in the inclination angle of the first towing cable 2 under different operating water depths and towing speeds, preventing the transfer device from deflecting due to skewed tension direction, improving the stability of surface and underwater operations, and ensuring that the tension is transmitted to the main body 11 along a reasonable force direction, extending the service life of the towing assembly 18 and improving overall force reliability.

[0110] Two limiting components 184 can be connected to the adapter frame 182. The two limiting components 184 are arranged on the left and right sides of the rear end of the towing tension damper 181 to limit the amplitude of the swing of the towing tension damper 181 around the connecting shaft 183 and prevent the swing angle of the towing tension damper 181 from being too large.

[0111] The mounting frame 17 can be welded from high-strength low-alloy steel plates. The mounting frame 17 is fixedly connected to multiple positions of the frame 111. As the main load-bearing structure for towing force, it can disperse and transfer the axial tension of the first towing cable 2 to the entire frame 111, avoid local stress concentration, and improve the overall structural stability.

[0112] Furthermore, the release device 16 is also fixedly connected to the mounting frame 17. The mounting frame 17 bears the gravity load of the underwater operation counterweight module 15 and distributes it to the frame 111, further improving the stability of the overall structure.

[0113] In some embodiments, such as Figure 5 and Figure 9 As shown, the drag force damper 181 includes an outer cylinder 1811, and a conduit 1812, an elastic buffer 1813 and an inner shaft 1814 disposed inside the outer cylinder 1811.

[0114] The conduit 1812 is fixedly connected to the outer cylinder 1811. One end of the inner shaft 1814 is axially slidably fitted inside the conduit 1812, and the other end extends out of the conduit 1812 and has a flange. One end of the elastic buffer 1813 is fitted in the annular gap between the inner wall of the outer cylinder 1811 and the outer wall of the conduit 1812, and the other end is limitedly fitted with the flange of the inner shaft 1814. The first towing cable 2 extends from the front end of the outer cylinder 1811 and extends from the rear end of the outer cylinder 1811, and a portion of the first towing cable 2 is integrally connected to the inner shaft 1814. The first towing cable 2 is connected from the rear end of the towing force damper 181 to the electrical control compartment 13.

[0115] When the drag force damper 181 is subjected to drag impact, the first drag cable 2 drives the inner shaft 1814 to slide in the guide tube 1812. The elastic buffer 1813 can absorb the impact, effectively reduce the tension fluctuation of the first drag cable 2, and reduce the impact damage caused by the tension fluctuation to the transfer device.

[0116] In some embodiments, the amphibious towed transfer device is equipped with an altimeter and a depth gauge. The altimeter may be installed at the bottom of the rear end of the main body 11 to determine the bottom elevation of the transfer device. The depth gauge may be installed at the bottom of the front end of the main body 11 to determine the depth of the transfer device.

[0117] The dual-purpose surface and underwater towing transfer device of this invention, by setting interchangeable surface operation counterweight module 14 and underwater operation counterweight module 15, realizes rapid switching between surface and underwater dual operation modes. Only the counterweight module needs to be replaced to adapt the same device to both surface calibration and underwater exploration operation scenarios. It combines the functions of a surface variable pressure towing platform and a depth-fixing device, significantly reducing equipment procurement and maintenance costs. The surface operation counterweight module 14 adopts a combination structure of bottom counterweight and buoyancy block, which can stably control the device's center of gravity in the bottom area, allowing the device to float stably with its bottom facing down. It has anti-capsulation and anti-wave performance, and is not easily swayed or overturned by waves when towed on the sea surface. It provides a stable traction platform for the initial calibration of the exploration towed body 5, ensuring calibration accuracy and efficiency. The counterweight block component 152 of the underwater operation counterweight module 15 adopts a modular and detachable design, which can be quickly replaced on the deck of the mother ship 3, effectively shortening the operation preparation time and improving the efficiency of marine exploration operations. Furthermore, the underwater operation counterweight module 15 provides ample negative buoyancy during submersion. Combined with the dynamic lift adjustment of the depth-fixing hydrofoil assembly 12, this allows the transfer device to stably maintain the target water depth with high depth control accuracy. Simultaneously, the transfer device also acts as an intermediate buffer, effectively isolating the mother ship from interference caused by sea surface fluctuations and the swaying of the first tow cable 2 on the detection towed body 5, ensuring a more stable motion environment and significantly improving the data accuracy of underwater gravity and magnetic detection. In addition, the heat dissipation design of the electrical control cabin 13 and the jettisonable design of the underwater operation counterweight module 15 greatly enhance the continuity and safety of deep-sea towing operations, supporting long-term underwater operations.

[0118] The present invention also provides a towing system, such as Figure 10 , Figure 11 The embodiment shown includes a surface and underwater dual-purpose towing transfer device 1 according to the above embodiment of the present invention, and also includes a mother ship 3, a detection tow body 5, a first tow cable 2 and a second tow cable 4. The main body 11 of the surface and underwater dual-purpose towing transfer device 1 is connected to the mother ship 3 through the first tow cable 2 and to the detection tow body 5 through the second tow cable 4.

[0119] The mother ship 3 can be equipped with a towing winch, an integrated control terminal, and a shipboard power supply system. The first towing cable 2 is a fiber optic composite cable, which integrates power transmission cores, fiber optic signal transmission cores, and high-strength load-bearing fibers. The cable is wound around the towing winch. The upper end of the first towing cable 2 is connected to the power supply system and control terminal of the mother ship 3, and the lower end is connected to the towing assembly 18 of the transfer device and connected to the input interface of the electrical control room 13.

[0120] The second tow cable 4 also uses a lightweight optical-electric composite cable, with one end connected to the electrical control compartment 13 of the relay device and the other end connected to the detection tow body 5. The second tow cable 4 is responsible for transmitting working power and control commands to the detection tow body 5, and transmitting the gravity and magnetic data and its own status data collected by the detection tow body 5 back to the relay device, and then transmitting them to the control terminal of the mother ship 3 via the optical fiber link of the first tow cable 2.

[0121] The present invention also provides a method for using the towing system provided in the above embodiments, comprising the following steps:

[0122] Step S1: Install the surface operation counterweight module 14 of the dual-purpose surface and underwater towing transfer device 1 onto the main body 11. In practice, the operators inspect the transfer device on the aft deck of the mother ship 3, confirming that the functional components such as the electrical control room 13, the depth-holding hydrofoil assembly 12, and the release device 16 are working properly. Then, the surface operation counterweight module 14 is installed upwards from the mounting port 110 at the bottom of the main body 11. After installation, the first counterweight base 141 is fastened to the main body 11 with fasteners, thus completing the assembly of the surface operation counterweight module 14.

[0123] In step S2, the dual-purpose surface and underwater towed transfer device 1 and the detection towed body 5 are deployed on the water surface. The mother ship 3 tows the dual-purpose surface and underwater towed transfer device 1 and the detection towed body 5, navigating on the water surface to ensure that the detection towed body 5 is at the required distance from the mother ship 3, thus keeping the detection towed body 5 away from the electromagnetic interference of the mother ship 3. The mother ship 3 can be equipped with a stern crane or a deployment ramp for deployment. After deployment, the mother ship 3 navigates along a preset route, towing the transfer device via the first tow cable 2. The transfer device, in turn, tows the detection towed body 5 via the second tow cable 4. Due to the installation of the surface operation counterweight module 14, the transfer device floats stably on the water surface with its main body 11 facing downwards, exhibiting strong wave resistance and effectively preventing large-scale swaying and capsizing caused by sea waves.

[0124] Step S3: Initial calibration of the probe towed body 5. During the towing process on the water surface, the gravimeter and magnetometer sensors inside the probe towed body 5 are calibrated using satellite positioning to establish the baseline accuracy for data acquisition.

[0125] Step S4: Retrieve the dual-purpose surface and underwater towing transfer device 1 to the mother ship 3, disassemble the surface operation counterweight module 14, and then install the underwater operation counterweight module 15 into the mounting port 110 of the main body 11. The mother ship 3 can retrieve the transfer device to the deck by winding up the first towing cable 2 using a towing winch. The operators disassemble the surface operation counterweight module 14 and select the corresponding number of counterweight blocks according to the target water depth of this operation, assemble them on the second counterweight base 151 to form the underwater operation counterweight module 15, and then install the underwater operation counterweight module 15 into the mounting port 110. After installation, lock the hanging parts of the second counterweight base 151 with the release device 16 to complete the installation of the underwater operation counterweight module 15.

[0126] In step S5, the surface and underwater dual-purpose towing transfer device 1 is deployed into the water again. The surface and underwater dual-purpose towing transfer device 1 drives the detection tow body 5 to submerge to the target water depth. The underwater operation counterweight module 15 drives the transfer device and the detection tow body 5 to gradually and smoothly submerge. When the target water depth is reached, the hydrodynamic lift generated by the depth-fixing hydrofoil assembly 12 is balanced with the overall weight, buoyancy and towing force of the transfer device, so that the transfer device is stably suspended at the target water depth position. The mother ship 3 sails along the predetermined route, and the towing transfer device and the detection tow body 5 are towed stably at the target water depth.

[0127] Furthermore, the operation method of the towing system also includes operation recovery steps and emergency handling steps: After the underwater exploration operation is completed, the mother ship 3 gradually winds up the first towing cable 2, and the control module 132 synchronously adjusts the angle of attack of the depth-fixing hydrofoil assembly 12. The auxiliary device rises smoothly until the transfer device and the exploration tow body 5 are all on the surface of the water, and then are retrieved to the mother ship deck by the crane. If an emergency occurs during the operation, such as abnormal towing cable tension exceeding the limit, uncontrolled device continuous descent, or communication interruption of the electrical control system, the mother ship operator can remotely send a release command to control the release device 16 to unlock and jettison the underwater operation counterweight module 15. The transfer device will quickly rise to the surface of the water, ensuring the safety of the core equipment. If the communication link is completely interrupted, the release device 16 can also automatically unlock after a set timeout period through the built-in timeout automatic release logic, realizing passive emergency protection and minimizing the risk of operation.

[0128] The various embodiments of the present invention have been described above. These descriptions are exemplary and not exhaustive, and are not limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen to best explain the principles, practical application, or technical improvements to the embodiments in the market, or to enable others skilled in the art to understand the embodiments disclosed herein. The scope of the invention is defined by the appended claims.

Claims

1. A dual-purpose surface and underwater towed transfer device, characterized in that, include: The main body is used to connect to the mother ship via a first tow cable and to the detection tow body via a second tow cable; A depth-fixed hydrofoil assembly, which is connected to the main body; The electrical control cabin includes a cabin body fixedly connected to the main body, and a control module and a transformer module disposed in the cabin body. The transformer module is used to convert the power transmitted by the first tow cable into voltage and then transmit it to the detection tow body through the second tow cable. The surface operation counterweight module and the underwater operation counterweight module are detachably installed at the bottom of the main body. When the surface operation counterweight module is installed on the main body, it is used to make the transfer device float on the water surface with the bottom of the main body facing down to perform surface operations. When the underwater operation counterweight module is installed on the main body, it is used to make the transfer device submerge to the target water depth to perform underwater operations. The water surface operation counterweight module includes a first counterweight base and a buoyancy block, with the first counterweight base supporting the bottom of the buoyancy block; The underwater operation counterweight module includes a second counterweight base and a counterweight block assembly. The second counterweight base is supported on the bottom of the counterweight block assembly, and the counterweight block assembly includes a plurality of counterweight blocks.

2. The dual-purpose surface and underwater towed transfer device according to claim 1, characterized in that, A release device is connected to the main body, and the second counterweight base has a hanging component. The underwater operation counterweight module is suspended from the release device through the hanging component. The release device is configured to release the underwater operation counterweight module, and the underwater operation counterweight module is configured to detach from the main body after being released.

3. The dual-purpose surface and underwater towed transfer device according to claim 2, characterized in that, Limiting plates are respectively provided on opposite sides of the second counterweight base, and the counterweight block assembly is restricted between the limiting plates on both sides. The limiting plates are in a limiting fit with the main body. A rolling component is rotatably connected to the limiting plate, and the rolling component abuts against the surface of the main body.

4. The dual-purpose surface and underwater towing transfer device according to claim 2, characterized in that, The main body includes a frame, with a head diffuser fixedly connected to the front end, a tail diffuser fixedly connected to the rear end, and a middle plate fixedly connected to the middle part of the frame. The head diffuser, the tail diffuser, and the middle plate form a receiving cavity. The release device and the electrical control compartment are respectively disposed in the receiving cavity. The receiving cavity has an installation port for installing the surface operation counterweight module or the underwater operation counterweight module below it.

5. The dual-purpose surface and underwater towed transfer device according to claim 1, characterized in that, A heat-conducting module is installed inside the chamber. The heat-conducting module surrounds the transformer module circumferentially and is attached to the inner wall of the chamber. The gap between the heat-conducting module and the inner wall of the chamber is filled with heat-conducting material. A heat dissipation module is provided outside the cabin. The heat dissipation module is arranged circumferentially and is attached to the outer wall of the cabin. The heat dissipation module is located on the cabin at the position corresponding to the transformer module.

6. The dual-purpose surface and underwater towed transfer device according to any one of claims 1 to 5, characterized in that, A mounting frame is fixedly connected to the main body, and a towing assembly is connected to the mounting frame. The towing assembly is located on the top of the main body. The towing assembly includes a towing force damper, an adapter frame, and a connecting shaft. The adapter frame is connected to the mounting frame, and the towing force damper and the adapter frame are hinged through the connecting shaft. A portion of the first towing cable is fixedly connected to the towing force damper.

7. A towing system, characterized in that, The dual-purpose surface and underwater towed transfer device according to any one of claims 1 to 6 further includes a mother ship, a detection tow body, a first tow cable and a second tow cable. The main body of the dual-purpose surface and underwater towed transfer device is connected to the mother ship through the first tow cable and to the detection tow body through the second tow cable.

8. A method of using the towing system according to claim 7, characterized in that, Includes the following steps: Step S1: Install the surface operation counterweight module of the dual-purpose surface and underwater towing transfer device onto the main body; Step S2: Place the surface and underwater dual-purpose towing transfer device and the detection tow body on the water surface, and tow the surface and underwater dual-purpose towing transfer device and the detection tow body on the water surface by the mother ship. Step S3: Perform initial calibration on the probe tow body; Step S4: Retrieve the surface and underwater dual-purpose towing transfer device to the mother ship, disassemble the surface operation counterweight module, and then install the underwater operation counterweight module onto the main body; Step S5: Deploy the surface and underwater dual-purpose towed transfer device in the water. The surface and underwater dual-purpose towed transfer device drives the detection tow body to dive to the target water depth.

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