A remotely adjustable angle rebreather system and method for underwater exploration devices

Abstract

The application provides a remotely adjustable angle diving aid system and method for underwater exploration equipment, wherein the system comprises: a multi-source data acquisition system, including a tow platform sensor installed on a tow platform, a tow body posture sensor installed in an underwater tow body and a altimeter installed on the abdomen of the tow body; an electrically controlled adjustable diving aid wing execution system, including a diving aid wing surface installed on the tow body; a water control system, generating adjustment instructions; an underwater communication system, transmitting data collected by the multi-source data acquisition system and the rotation angle of the rotation shaft measured by the angle sensing module to the water control system, and transmitting the adjustment instructions of the water control system to the steering engine controller of the electrically controlled adjustable diving aid wing execution system. The remotely adjustable angle diving aid system for underwater exploration equipment can solve the problems that the existing mechanical diving aid wing needs to be stopped for recovery and its depth posture is difficult to be stable in real time.

Description

Technical Field

[0001] This invention belongs to the field of underwater exploration, and in particular to a remotely adjustable angle-assisted submersible system and method for underwater exploration equipment. Background Technology

[0002] With the deepening of marine resource development and underwater scientific research, high-precision and high-efficiency underwater detection has become an important support for marine engineering and marine safety. In actual operations, towed side-scan sonar and shallow profiling equipment are usually suspended by cables behind the mother ship, and their detection angle is significantly affected by ocean currents, cable tension, and ship sway. When operating in complex terrain (such as steep slopes, shipwrecks, and underwater canyons), they face problems such as large blind spots and unstable data quality due to the limited attitude of the equipment itself. The traditional way to adjust the attitude of such equipment is mainly to install underwater wing aids to improve its underwater attitude performance. Underwater wing aids are mainly divided into fixed-angle underwater wing aids and mechanically adjustable-angle underwater wing aids (such as... Figure 1 ).

[0003] In traditional towed operations, mechanically adjustable angle-adjustable winglets are widely used as a semi-active attitude control accessory to meet the detection needs of different water depths and seabed topography. This device typically consists of a wing body, a mechanical adjustment hinge, and an angle locking pin. Unlike another type of winglet (fixed angle-of-attack winglet), its core feature is a mechanical angle-changing mechanism based on a pin positioning system at the connection between the wing surface and the towed fish. Operators on deck must anticipate the operating conditions based on experience, manually loosen the locking device, and change the geometric angle of attack of the wing surface relative to the incoming current direction by rotating the adjusting screw with a wrench or moving the positioning hole plate. They then retighten the pin to ensure that the angle does not shift under underwater forces.

[0004] While mechanically adjustable wing-assisted submersibles offer greater flexibility than fixed-wing systems, they are essentially still "open-loop control"—meaning the adjustment occurs before entry into the water. Once submerged, the wing angle is mechanically locked, making them unresponsive to rapidly changing underwater flow conditions. Furthermore, in today's era of unmanned technology, designs requiring manual angle adjustments by operators are unsuitable for use on various unmanned vessels. Summary of the Invention

[0005] This invention provides a remotely adjustable angle-assisted submersible system for underwater exploration equipment, which can solve the problems of existing mechanical submersible wing systems that require shutdown and recovery for manual on-site angle adjustment, leading to operational interruptions, and the difficulty in stabilizing their depth and attitude in real time.

[0006] The present invention provides a remotely adjustable angle underwater assistance system for underwater detection equipment, comprising:

[0007] The multi-source data acquisition system includes a towing platform sensor installed on the towing platform, a towing body attitude sensor installed in the underwater towing body, and an altimeter installed on the belly of the towing body. The towing platform sensor is used to collect the speed of the towing platform, the towing body attitude sensor is used to calculate the pitch angle of the towing body, and the altimeter is used to measure the height of the towing body above the bottom.

[0008] An electrically adjustable submarine aid wing actuation system includes a submarine aid wing surface installed on a towed body. The submarine aid wing surface is equipped with a rotating shaft that can rotate synchronously with it and an angle sensing module coupled to the rotating shaft for measuring the actual rotation angle of the rotating shaft. The electrically adjustable submarine aid wing actuation system also includes an underwater sealed electric drive mechanism for driving the rotating shaft to rotate. The electrically adjustable submarine aid wing actuation system controls the servo controller of the underwater sealed electric drive mechanism according to the adjustment command.

[0009] The surface control system, deployed on a towed platform or shore-based control station, receives data from a multi-source data acquisition system and angle measurements from an angle sensing module. It performs multi-source data fusion and preprocessing. The system includes a pre-installed adaptive module that performs adaptive intelligent calculations and generates adjustment commands. The adaptive module calculates the target angle of attack α. target The formula is as follows:

[0010] α target = K p ·e h + K d ·v +α ff

[0011] Where e h α is the difference between the target clearance and the actual clearance, v is the current speed of the towed platform, and α is the distance between the target clearance and the actual clearance. ff As the feedforward compensation amount, α is used when the towed platform accelerates. ff When α is negative, it indicates that the towed platform is decelerating. ff It is positive; where, the higher the speed v, the greater K. d The larger the value, the greater the risk. When the attitude sensor detects that the pitch angle of the towed body exceeds the safety threshold, the adaptive module determines that it is in an emergency and will instantly increase K. p The value;

[0012] The surface control system generates adjustment commands based on the target angle of attack and sends the commands to the electronically controlled adjustable wing-assisted propulsion system. The surface control system also compares the target angle of attack of the commands it sends with the actual angle of attack returned by the angle sensing module to obtain the adjustment deviation, and judges whether the adjustment is successful based on the pre-set adjustment deviation threshold.

[0013] The underwater communication system transmits the data collected by the multi-source data acquisition system and the rotation angle of the rotating shaft measured by the angle sensing module to the surface control system, and transmits the adjustment commands of the surface control system to the servo controller of the electronically adjustable submarine aid actuator system.

[0014] Preferably, the adaptive module has a built-in speed-differential coefficient mapping table and pitch angle-proportional coefficient mapping table. The adaptive module uses the real-time collected speed, pitch angle data, and mapping tables to determine K. d and K p Values.

[0015] As a preferred option, α is used when the towed platform accelerates. ff α is -0.5° when the towed platform decelerates. ff It is +0.5°.

[0016] Preferably, the multi-source data acquisition system also includes a water flow sensor installed on the towed body. The water flow sensor collects the current underwater velocity profile data and transmits the velocity profile data to the surface control system. When the surface control system determines that there is a countercurrent or a downstream current at the current depth, the adaptive module adds a set angle of attack compensation when calculating the target angle of attack.

[0017] Preferably, the multi-source data acquisition system also includes a pressure sensor installed on the towed body. The pressure sensor measures the hydrostatic pressure and calculates the current operating depth of the towed body, then transmits the current operating depth to the surface control system. When the operating depth changes beyond a set value, the surface control system automatically corrects the coefficient K. p .

[0018] As a preferred option, the waterborne control system also presets the operating depth limit and / or the bottom clearance limit. When the operating depth transmitted by the pressure sensor exceeds the operating depth limit or the bottom clearance transmitted by the altimeter is lower than the bottom clearance limit, a forced zero angle of attack command is issued and the towed body is controlled to rise urgently.

[0019] Preferably, the towed platform sensor can also detect the towed platform's three-dimensional position, roll, pitch, and yaw data; the waterborne control system determines whether the towed body has entered a region of abrupt terrain change based on the towed platform's three-dimensional position and the towed body's height above the bottom. If the rate of position change exceeds a threshold, the adaptive module increases K. d The value of the angle of attack is determined; if the pitch angle and / or roll angle exceed the set angle, the waterborne control system determines that the hull is swaying significantly and temporarily freezes the angle of attack adjustment command; if the change in the bow roll angle exceeds the set value, the waterborne control system determines that it is about to enter the turning condition and reduces the angle of attack in advance.

[0020] Preferably, the angle sensing module reads the rotation angle of the shaft and feeds the data back to the servo controller in real time. The servo controller calculates the difference between the target position and the actual position, calculates the speed difference based on the difference, reads the current sampling resistor, calculates the torque difference based on the speed difference, and outputs the corresponding current.

[0021] Preferably, the servo controller also presets a wing surface angle threshold range. When the real-time angle transmitted by the angle sensing module enters the set threshold range, the servo controller automatically cuts off the power supply to the motor in the corresponding direction, allowing only reverse adjustment.

[0022] Preferably, the underwater sealed electric drive mechanism includes a waterproof sealed chamber and a servo motor and a reduction gearbox located inside the waterproof sealed chamber, and a limiting boss is provided between the rotating shaft and the reduction gearbox to limit the rotation range of the rotating shaft.

[0023] Preferably, a torque overload protection clutch is provided between the output shaft of the servo motor and the reduction gearbox, and a serrated cutting edge is provided on the edge of the diving aid wing surface. When the servo controller detects that the motor current exceeds a set multiple of the rated current and continues to exceed the preset value, it is determined that the motor is stalled. The servo controller controls the servo motor to reverse the direction by a set number of revolutions, using the serrated cutting edge on the edge of the diving aid wing surface to cut the entangled object, and then controls the clutch to re-engage. If the current still does not drop after reversing the direction by a set number of times, it is determined to be severely stuck, and the power is automatically cut off and an alarm is triggered.

[0024] Preferably, the underwater communication system includes a twisted-pair shielded watertight cable, a surface modem interface connected to one end of the twisted-pair shielded watertight cable for connection with the surface control system, and an underwater pressure-resistant through-cell connector connected to the other end of the twisted-pair shielded watertight cable for connection with the electronically controlled adjustable submarine aid actuator system. The twisted-pair shielded watertight cable integrates a power supply core wire that can supply power to the servo motor, angle sensing module and servo controller.

[0025] The present invention also provides a remotely adjustable angle-assisted diving method for underwater detection equipment. Utilizing the system described above, the angle of the underwater detection equipment is remotely adjusted, including a dynamic cruise and closed-loop adjustment phase. The dynamic cruise and closed-loop adjustment phase includes the following steps:

[0026] S1, the multi-source data acquisition system collects the speed of the towing platform, the height of the towed body off the bottom, and the pitch angle data, and transmits the data to the surface control terminal. The surface control terminal filters the data and constructs a unified state vector for the current moment.

[0027] S2, the surface control terminal compares the actual height of the towed body off the bottom with the height of the target off the bottom to obtain the deviation, calculates the target angle of attack through the built-in adaptive module, generates adjustment commands based on the target angle of attack, and sends adjustment commands to the electronically controlled adjustable wing-assisted submarine execution system;

[0028] S3, the underwater servo controller receives commands and controls the electronically adjustable submersible wing actuator system to adjust the angle of the submersible wing surface;

[0029] S4, the angle sensing module captures the actual rotation angle of the wing surface in real time and sends the data back to the water control system. The water control system completes closed-loop verification by comparing the sent commands with the actual parameters sent back: if the error is within the set range, the adjustment is considered successful; if the error exceeds the limit, the command is immediately resent; if the system fails to synchronize for a set number of consecutive times, it is considered to be mechanically stuck or entangled, and the water control system automatically cuts off the motor power and triggers an audible and visual alarm, switching to safety protection mode.

[0030] The beneficial effects of this invention are as follows: This invention achieves "zero-downtime angle adjustment" through remote electronic control adjustment technology: the underwater potential of the wing-assisted submersible can be dynamically corrected without recovering the towed fish, enabling the unmanned vessel to continuously conduct surveying operations. Simultaneously, continuous operation avoids the collision risk during repeated entry / exit of the towed fish, reducing equipment wear and tear. This invention constructs a complete control closed loop of "surface data acquisition—intelligent calculation—underwater execution—status feedback," completely changing the traditional operational logic of wing-assisted submersibles that relies on manual on-site intervention. The surface control terminal collects multi-source heterogeneous data in real time, including the unmanned vessel's speed, towed body depth, height above the bottom, and pitch attitude. The built-in algorithm calculates the optimal angle of attack, and after issuing commands via the underwater communication link, the underwater sealed motor completes the stepless adjustment of the wing surface angle. Simultaneously, the angle sensing module transmits the actual angle of attack data in real time for feedback correction. This closed-loop mechanism significantly improves the adjustment response speed of the wing-assisted submersible compared to manual operation, enabling rapid correction of the wing surface attitude under dynamic conditions such as speed fluctuations, ensuring real-time stability of the towed body's depth and attitude. Attached Figure Description

[0031] Figure 1 This is a schematic diagram of a remotely adjustable angle underwater exploration system according to an embodiment of the present invention.

[0032] Figure 2 This is a schematic diagram of the structure of an electrically controlled adjustable wing actuator system for a remotely adjustable angle underwater exploration device, according to an embodiment of the present invention.

[0033] Figure 3 This is a flowchart illustrating the initialization self-test phase and the deployment and diving phase of a remotely adjustable angle-assisted diving method for underwater detection equipment according to an embodiment of the present invention.

[0034] Figure 4 This is a flowchart illustrating the dynamic cruise and closed-loop adjustment phase and the operation recovery phase of a remotely adjustable angle-assisted submersible method for underwater detection equipment according to an embodiment of the present invention.

[0035] Figure Labels

[0036] 1-Submersible wing surface, 2-Spindle, 3-Twisted shielded watertight cable, 4-Waterproof sealed chamber. Detailed Implementation

[0037] This invention provides a remotely adjustable angle underwater exploration system for underwater detection equipment, such as... Figure 1 As shown, the system includes a multi-source data acquisition system, an electronically adjustable wing-assisted submersible actuator system, a surface control system, and an underwater communication system. The multi-source data acquisition system includes a towed platform sensor mounted on the towed platform, a tow body attitude sensor mounted inside the underwater tow body, and an altimeter mounted on the belly of the tow body. The towed platform sensor is used to collect the towed platform's speed, the tow body attitude sensor is used to calculate the tow body's pitch angle using existing methods, and the altimeter is used to measure the tow body's height above the bottom.

[0038] like Figure 2 As shown, the electrically adjustable submersible wing actuator system includes a submersible wing surface 1 installed on the towed body. The wing surface 1 is equipped with a rotating shaft 2 that rotates synchronously with it, and an angle sensing module coupled to the rotating shaft 2 for measuring the actual rotation angle of the shaft 2. The angle sensing module uses an absolute photoelectric encoder or a Hall angle sensor. In this embodiment, an absolute photoelectric encoder is used. Compared to an incremental encoder, it can read the current true angle instantly upon system power-on, without requiring zeroing, and the measurement accuracy can reach ±0.1 degrees. The electrically adjustable submersible wing actuator system also includes an underwater sealed electric drive mechanism for driving the rotation of the rotating shaft 2. In this embodiment, the underwater sealed electric drive mechanism includes a waterproof sealed chamber 4 and a servo motor and a reduction gearbox located within the waterproof sealed chamber 4. The electrically adjustable submersible wing actuator system also includes a servo controller that controls the underwater sealed electric drive mechanism according to adjustment commands. The servo controller is also located within the waterproof sealed chamber 4.

[0039] The surface control system is deployed on a towed platform or a shore-based control station. It receives data from a multi-source data acquisition system and angle measurements from an angle sensing module, performs multi-source data fusion and preprocessing, and includes an adaptive module. This module performs adaptive intelligent calculations and generates adjustment commands. The adaptive intelligent calculations include deviation calculation and dynamic parameter adjustment. Variation calculation includes real-time calculation of the deviation between the target's height or depth above the bottom and the actual value. The adaptive module also calculates the target's angle of attack α. target The formula is as follows:

[0040] α target = K p ·e h + K d ·v +α ff

[0041] Where e h α is the difference between the target clearance and the actual clearance, v is the current speed of the towed platform, and α is the distance between the target clearance and the actual clearance. ff As the feedforward compensation amount, α is used when the towed platform accelerates. ff When α is negative, it indicates that the towed platform is decelerating. ff The value is positive; in this embodiment, αff is -0.5° when the towed platform accelerates and +0.5° when the towed platform decelerates. Wherein, the higher the speed v, the higher K... d A larger value suppresses overshoot; when the attitude sensor detects that the pitch angle of the towed body exceeds the safety threshold, the adaptive module determines that it is in an emergency and will instantly increase K. p The numerical value; in this embodiment, the adaptive module has a built-in speed-differential coefficient mapping table and pitch angle-proportional coefficient mapping table. The adaptive module uses the real-time collected speed, pitch angle data and mapping table as K. d and K p The adaptive module continuously and smoothly adjusts the differential term gain K based on the current speed (or via a speed-differential coefficient mapping table). d To suppress deep overshoot at high speeds; simultaneously, the system incorporates pitch angle safety threshold triggering logic. When the absolute value of the towed body's pitch angle exceeds a preset threshold, the adaptive module adjusts the proportional coefficient K through the pitch angle-proportional coefficient mapping table. p Switch to high gain mode to forcibly increase the correction torque and prevent the towed body from stalling.

[0042] Feedforward compensation refers to the process where the maritime control system detects acceleration or deceleration of a towed platform and preemptively reduces or increases the angle of attack before calculating the deviation. In other words, the maritime control system does not passively wait for speed changes but anticipates lift changes based on speed trends and adjusts the angle of attack accordingly. For example, if it detects an unmanned vessel accelerating, the system reduces the angle of attack in advance to counteract the impending increase in lift.

[0043] The surface control system generates adjustment commands based on the target angle of attack and sends these commands to the electronically controlled adjustable wing-assisted propulsion system. The system also compares the target angle of attack in the issued commands with the actual angle of attack transmitted from the angle sensor module to obtain the adjustment deviation. Based on a pre-set threshold for the adjustment deviation, it determines whether the adjustment was successful. For example, if the deviation is within ±0.5°, the adjustment is considered successful; if the deviation is greater than ±0.5°, the adjustment is considered a failure.

[0044] The underwater communication system transmits data collected by the multi-source data acquisition system and the rotation angle of the rotating shaft 2 measured by the angle sensing module to the surface control system, and transmits the adjustment commands of the surface control system to the servo controller of the electronically adjustable wing-assisted submersible actuator system. In this embodiment, the underwater communication system includes a twisted-pair shielded watertight cable 3, a surface modem interface connected to one end of the twisted-pair shielded watertight cable 3 for connection with the surface control system, and an underwater pressure-resistant through-cell connector connected to the other end of the twisted-pair shielded watertight cable 3 for connection with the electronically adjustable wing-assisted submersible actuator system. The twisted-pair shielded watertight cable 3 integrates power supply core wires that can supply power to the servo motor, angle sensing module, and servo controller.

[0045] This invention achieves "zero-downtime angle adjustment" through remote electronic control technology: the underwater submersible aid's wing can be dynamically corrected underwater without recovering the towed fish, enabling the unmanned surface vessel (USV) to continuously conduct surveying operations. Simultaneously, continuous operation avoids the collision risks associated with repeated entry and exit of the towed fish, reducing equipment wear and tear. Furthermore, this invention constructs a complete control closed loop of "surface data acquisition—intelligent computation—underwater execution—status feedback," fundamentally changing the traditional operational logic of submersible aids that relies on manual on-site intervention. The surface control terminal collects multi-source heterogeneous data in real time, including the USV's speed, bottom clearance, and pitch attitude. The built-in algorithm calculates the optimal angle of attack, and after issuing commands via the underwater communication system, the underwater sealed electric drive mechanism performs stepless adjustment of the wing surface angle. Simultaneously, the angle sensing module transmits the actual angle of attack data in real time for feedback correction. This closed-loop mechanism significantly improves the adjustment response speed of the submersible aid compared to manual operation, enabling rapid correction of the wing surface attitude under dynamic conditions such as speed fluctuations, ensuring real-time stability of the towed body's depth and attitude.

[0046] The multi-source data acquisition system also includes a water flow sensor installed on the towed body. The water flow sensor collects the current velocity profile data at the current underwater depth and transmits the velocity profile data to the surface control system. When the adaptive module calculates the target angle of attack, it additionally superimposes a set angle of attack compensation. For example, when a countercurrent is detected at the current depth layer, it increases by 0.1°~0.3°, and when a downstream current is detected, it decreases by 0.1°~0.3°.

[0047] The multi-source data acquisition system also includes a pressure sensor installed on the towed body. This sensor measures the hydrostatic pressure to calculate the towed body's current operating depth and transmits this depth to the surface control system. When the operating depth changes beyond a set value, such as 5 meters, the surface control system automatically corrects the error by a coefficient K. p This counteracts the effects of seawater density and fluid viscosity at different water depths on the lift of the wing surface.

[0048] In addition, the surface control system presets a limit value for the current operating depth, such as 200m underwater. If the depth exceeds this preset limit value, the surface control system immediately issues a forced zero angle of attack command and controls the towed body to rise urgently to prevent overpressure and water ingress into the waterproof sealed compartment 4. The surface control system can also preset a limit value for the height above the bottom. When the height above the bottom transmitted from the altimeter is lower than the limit value, a forced zero angle of attack command is issued, and the towed body is controlled to rise urgently.

[0049] The towed platform sensors can also detect the towed platform's three-dimensional position, heading angle, and roll, pitch, and yaw data. Based on the towed platform's three-dimensional position and the towed body's height above the seabed, the maritime control system determines whether the towed body has entered a region of abrupt terrain change (such as a steep seabed slope). If the rate of position change exceeds a threshold, the adaptive module increases K. d The value of this setting improves response speed. If the pitch angle exceeds the set angle, for example, ±10°, the waterborne control system determines that the hull is swaying significantly and temporarily freezes the angle of attack adjustment command. Adjustment will resume after the platform attitude stabilizes to avoid erroneous adjustments. If the bow roll angle changes more than the set value, for example, ±5° / s, it is determined that the vessel is about to enter a turning condition, and the angle of attack is reduced in advance to prevent the towed body attitude from becoming unstable during the turning process.

[0050] The angle sensing module reads the rotation angle of the rotating shaft 2 and feeds the data back to the servo controller in real time. The servo controller calculates the difference between the target position and the actual position, calculates the speed difference based on the difference, reads the current sampling resistor, calculates the torque difference based on the speed difference, and outputs the corresponding current. In this embodiment, the servo controller adopts a three-loop cascaded control system consisting of a position loop, a speed loop, and a current loop. The position loop calculates the difference e between the target position and the actual position. p = θ target - θ actual The target rotational speed n is output after calculation. target The data is fed into the speed loop; the speed loop calculates the speed deviation e. n =n target - n actual The target torque T is output after calculation. target The current is fed into the current loop; the current loop reads the real-time current I from the current sampling resistor. actual Calculate e I = I target - I actual , where I target = T target / K t K tThe constant value is the motor torque, which is then calculated to output the corresponding PWM duty cycle control value. This scheme establishes a closed loop of "position loop – speed loop – current loop," driving the motor to rotate precisely. Even when strong water flow impacts the wing surface, causing a brief deflection, the motor can output a reverse torque through closed-loop control, firmly locking the wing surface angle and ensuring attitude rigidity.

[0051] The servo controller also has a built-in wing surface angle threshold. For example, the angle threshold can be set from -15° to +25°. When the real-time angle returned by the angle sensing module approaches the threshold ±0.5°, the servo controller automatically cuts off the power supply to the motor in the corresponding direction, allowing only reverse adjustment. Simultaneously, a limiting boss is installed between the rotating shaft 2 and the reduction gearbox to mechanically limit the rotation range of the rotating shaft 2, preventing excessive rotation of the wing surface and structural damage in case of electronic limit failure.

[0052] A torque overload protection clutch is installed between the servo motor output shaft and the reduction gearbox. The edge of the diving aid wing surface 1 is equipped with a serrated cutting edge. When the servo controller detects that the motor current exceeds 150% of the rated current and remains so for more than 200ms, it determines that the motor is stalled, possibly due to entanglement with seaweed. In this case, the clutch slips, and the servo controller controls the servo motor to reverse three times, using the serrated cutting edge of the wing surface to cut the entangled seaweed. Afterward, it controls the clutch to re-engage and resume normal operation. If the current does not decrease after three reversals, it is determined to be severely jammed, automatically cutting off power and triggering an alarm.

[0053] The present invention also provides a remotely adjustable angle-assisted diving method for underwater detection equipment, which utilizes the system described above to remotely adjust the angle of the underwater detection equipment, comprising the following four stages:

[0054] Initialization self-test phase, such as Figure 3 As shown, the process includes: (1) Before the towed body is deployed, confirm that the pressure-resistant connectors at both ends of the watertight cable are securely locked to ensure a reliable physical connection between the surface communication interface and the waterproof sealed compartment 4 of the towed body. (2) Powering on the equipment: Start the surface control system, and the system will automatically power on the underwater sealed electric drive mechanism, the angle sensing module and the towed body attitude sensor. (3) Zero-position calibration: The angle sensing module reads the current absolute position of the wing surface at the moment of power-on and transmits the data back to the surface control system in real time through the watertight cable. The display screen of the surface control system simultaneously displays "System ready, wing surface angle 0°", confirming that the communication link is unobstructed and the actuator is not stuck. (4) Parameter preset: The operator sets the operating parameters in the surface control center, including the target height above the bottom, the maximum pitch angle threshold, the maximum operating depth and the speed range.

[0055] During the deployment and submersion phases, such as Figure 3As shown, the process includes: Silent entry into the water: The towed platform navigates to the work site and begins releasing the towed fish. At this time, the winglet maintains a 0° angle of attack to minimize water resistance; Gravity sinking: The towed body sinks by overcoming buoyancy under its own weight. During this process, the pressure sensors and altimeter installed on the towed body begin to operate, uploading real-time operating depth data and bottom clearance data to the surface terminal via a watertight cable.

[0056] Dynamic cruise and closed-loop adjustment phases, such as Figure 4 As shown, this stage directly follows the previous stage and includes the following steps:

[0057] S1, the multi-source data acquisition system collects data on the speed of the towing platform and the operating depth, height above the bottom, and pitch angle of the towed body, and transmits the data to the surface control terminal. The surface control terminal filters the data and constructs a unified state vector for the current moment.

[0058] S2, the surface control terminal compares the actual height of the towed body off the bottom with the height of the target off the bottom to obtain the deviation, calculates the target angle of attack, generates adjustment commands based on the target angle of attack, and sends adjustment commands to the electronically controlled adjustable wing-assisted submarine execution system;

[0059] S3, the underwater servo controller receives the command and controls the electronically adjustable submarine aid wing execution system to adjust the angle of the submarine aid wing surface 1;

[0060] S4, the angle sensing module captures the actual rotation angle of the wing surface in real time and transmits the data back to the water control system. The water control system completes closed-loop verification by comparing the issued command with the actual parameters transmitted back: if the error is within the set range, the adjustment is determined to be successful; if the error exceeds the limit, the command is immediately resent; if the system fails to synchronize for a set number of consecutive times (i.e., the error exceeds the limit), it is determined to be mechanical jamming or entanglement, and the water control system automatically cuts off the motor power and triggers an audible and visual alarm, switching to safety protection mode.

[0061] The job recovery phase, such as Figure 4 As shown, it includes:

[0062] (1) Zeroing the command: When the operation is completed, the operator clicks the “Recover” button on the terminal of the water control center, and the water control center issues the “Zeroing the angle of attack” command.

[0063] (2) Minimize drag: When the wing returns to the 0° horizontal state, the wing surface is parallel to the direction of water flow, and the drag is minimized, which makes it easy for the operator to recover the towed body smoothly and quickly through the winch.

[0064] (3) Data storage: The waterborne control system automatically saves the log file of this operation (including track, depth curve, angle of attack change curve, etc.) for subsequent data analysis.

[0065] The method of this invention enables a remote, automated control system, allowing one person to monitor multiple devices simultaneously. Operators only need to set target parameters on the surface control terminal, and the system can autonomously adjust the angle of attack without manual intervention. This avoids the risks associated with operations on slippery decks or complex shorelines, making it particularly suitable for nighttime operations and inclement weather conditions where manual intervention is impractical. Furthermore, the real-time data transmission function of the angle sensing module allows operators to remotely monitor the wing surface status, triggering immediate alarms in case of jamming or other anomalies, further enhancing the system's safety and reliability.

[0066] Furthermore, the method of this invention can be flexibly adapted to different specifications of underwater towed fish and detection equipment (such as side-scan sonar, shallow seismographs, multibeam echo sounders, etc.), and can meet diverse mission requirements through algorithm parameter configuration. In waterway inspection, maintaining a constant height above the bottom ensures comprehensive detection of obstacles at the bottom of the waterway; in subsea pipeline surveying, the angle of attack can be dynamically adjusted to enable the towed body to stably track the pipeline along its direction, improving the accuracy of identifying pipeline defects such as overhangs and corrosion; in underwater search and rescue scenarios, a "high-sensitivity" mode can be quickly switched to achieve precise scanning of small targets; in reservoir topographic mapping, the angle of attack can be automatically optimized by combining water depth data to adapt to seasonal changes in reservoir water levels. This multi-scenario adaptability makes this invention a universal solution in the field of underwater acoustic detection, providing efficient and reliable technical support for marine engineering, water conservancy and hydropower, emergency rescue, and other fields.

[0067] The above embodiments are merely exemplary embodiments of the present invention and are not intended to limit the present invention. The scope of protection of the present invention is defined by the claims. Various modifications or equivalent substitutions made by those skilled in the art to the present invention within its spirit and scope of protection also fall within the scope of protection of the present invention.

Claims

1. A remotely adjustable angle underwater assistance system for underwater detection equipment, characterized in that, include: The multi-source data acquisition system includes a towing platform sensor installed on the towing platform, a towing body attitude sensor installed in the underwater towing body, and an altimeter installed on the belly of the towing body. The towing platform sensor is used to collect the speed of the towing platform, the towing body attitude sensor is used to calculate the pitch angle of the towing body, and the altimeter is used to measure the height of the towing body above the bottom. An electrically adjustable submarine aid wing actuation system includes a submarine aid wing surface installed on a towed body. The submarine aid wing surface is equipped with a rotating shaft that can rotate synchronously with it and an angle sensing module coupled to the rotating shaft for measuring the actual rotation angle of the rotating shaft. The electrically adjustable submarine aid wing actuation system also includes an underwater sealed electric drive mechanism for driving the rotating shaft to rotate. The electrically adjustable submarine aid wing actuation system controls the servo controller of the underwater sealed electric drive mechanism according to adjustment commands. The surface control system, deployed on a towed platform or shore-based control station, receives data from a multi-source data acquisition system and angle measurements from an angle sensing module. It performs multi-source data fusion and preprocessing. The system includes a pre-installed adaptive module that performs adaptive intelligent calculations and generates adjustment commands. The adaptive module calculates the target angle of attack α. target The formula is as follows: a target = K p ·e h + K d ·v +a ff Where e h α is the difference between the target clearance and the actual clearance, v is the current speed of the towed platform, and α is the distance between the target clearance and the actual clearance. ff As the feedforward compensation amount, α is used when the towed platform accelerates. ff When α is negative, it indicates that the towed platform is decelerating. ff It is positive; where, the higher the speed v, the greater K. d The larger the value, the greater the risk. When the attitude sensor detects that the pitch angle of the towed body exceeds the safety threshold, the adaptive module determines that it is in an emergency and will instantly increase K. p The value; The surface control system generates adjustment commands based on the target angle of attack and sends the commands to the electronically controlled adjustable wing-assisted propulsion system. The surface control system also compares the target angle of attack of the commands it sends with the actual angle of attack returned by the angle sensing module to obtain the adjustment deviation, and judges whether the adjustment is successful based on the pre-set adjustment deviation threshold. The underwater communication system transmits the data collected by the multi-source data acquisition system and the rotation angle of the rotating shaft measured by the angle sensing module to the surface control system, and transmits the adjustment commands of the surface control system to the servo controller of the electronically adjustable submarine aid actuator system.

2. The system according to claim 1, characterized in that, The adaptive module has a built-in speed-differential coefficient mapping table and pitch angle-proportional coefficient mapping table. The adaptive module uses the real-time collected speed, pitch angle data and mapping tables to calculate K. d and K p Values.

3. The system according to claim 1, characterized in that, α during the acceleration of the towing platform ff α is -0.5° when the towed platform decelerates. ff It is +0.5°.

4. The system according to claim 1, characterized in that, The multi-source data acquisition system also includes a water flow sensor installed on the towed body. The water flow sensor collects the current underwater velocity profile data and transmits the velocity profile data to the surface control system. When the surface control system determines that there is a countercurrent or a downstream current at the current depth, the adaptive module adds a set angle of attack compensation when calculating the target angle of attack.

5. The system according to claim 1, characterized in that, The multi-source data acquisition system also includes a pressure sensor installed on the towed body. The pressure sensor measures the hydrostatic pressure and calculates the current operating depth of the towed body, then transmits the current operating depth to the surface control system. When the operating depth changes beyond a set value, the surface control system automatically corrects the coefficient K. p .

6. The system according to claim 5, characterized in that, The waterborne control system also presets operating depth limits and / or bottom clearance limits. When the operating depth transmitted by the pressure sensor exceeds the operating depth limit or the bottom clearance transmitted by the altimeter is lower than the bottom clearance limit, it issues a forced zero angle of attack command and controls the towed body to rise urgently.

7. The system according to claim 1, characterized in that, The towed platform sensors can also detect the towed platform's three-dimensional position, roll, pitch, and yaw data; the waterborne control system determines whether the towed body has entered a region of abrupt terrain change based on the towed platform's three-dimensional position and the towed body's height above the bottom. If the rate of position change exceeds a threshold, the adaptive module increases K. d The value of the angle of attack is determined; if the pitch angle and / or roll angle exceed the set angle, the waterborne control system determines that the hull is swaying significantly and temporarily freezes the angle of attack adjustment command; if the change in the bow roll angle exceeds the set value, the waterborne control system determines that it is about to enter the turning condition and reduces the angle of attack in advance.

8. The system according to claim 1, characterized in that, The angle sensing module reads the rotation angle of the shaft and feeds the data back to the servo controller in real time. The servo controller calculates the difference between the target position and the actual position, calculates the speed difference based on the difference, reads the current sampling resistor, calculates the torque difference based on the speed difference, and outputs the corresponding current.

9. The system according to claim 1, characterized in that, The servo controller also presets a wing surface angle threshold range. When the real-time angle transmitted by the angle sensing module enters the set threshold range, the servo controller automatically cuts off the power supply to the motor in the corresponding direction, allowing only reverse adjustment.

10. The system according to claim 1, characterized in that, The underwater sealed electric drive mechanism includes a waterproof sealed chamber and a servo motor and a reduction gearbox located inside the waterproof sealed chamber. A limiting boss is provided between the rotating shaft and the reduction gearbox to limit the rotation range of the rotating shaft.

11. The system according to claim 10, characterized in that, A torque overload protection clutch is installed between the output shaft of the servo motor and the reduction gearbox. The edge of the diving aid wing surface is provided with a serrated cutting edge. When the servo controller detects that the motor current exceeds the set multiple of the rated current and continues to exceed the preset value, it is determined that the motor is stalled. The servo controller controls the servo motor to reverse the direction by a set number of revolutions, using the serrated cutting edge of the diving aid wing surface to cut the entangled object, and then controls the clutch to re-engage. If the current still does not drop after reversing the direction by a set number of times, it is determined that there is a serious jam, and the power is automatically cut off and an alarm is triggered.

12. The system according to claim 10, characterized in that, The underwater communication system includes a twisted-pair shielded watertight cable, a surface modem interface connected to one end of the twisted-pair shielded watertight cable for connection with the surface control system, and an underwater pressure-resistant through-cell connector connected to the other end of the twisted-pair shielded watertight cable for connection with the electronically adjustable submarine aid actuator system. The twisted-pair shielded watertight cable integrates a power supply core wire that can supply power to the servo motor, angle sensing module and servo controller.

13. A remotely adjustable angle-assisted diving method for underwater detection equipment, characterized in that, Using the system described in any one of claims 1-12, the angle of an underwater detection device can be remotely adjusted, including a dynamic cruise and closed-loop adjustment phase, wherein the dynamic cruise and closed-loop adjustment phase includes the following steps: S1, the multi-source data acquisition system collects the speed of the towing platform, the height of the towed body off the bottom, and the pitch angle data, and transmits the data to the surface control terminal. The surface control terminal filters the data and constructs a unified state vector for the current moment. S2, the surface control terminal compares the actual height of the towed body off the bottom with the height of the target off the bottom to obtain the deviation, calculates the target angle of attack through the built-in adaptive module, generates adjustment commands based on the target angle of attack, and sends adjustment commands to the electronically controlled adjustable wing-assisted submarine execution system; S3, the underwater servo controller receives commands and controls the electronically adjustable submarine aid wing execution system to adjust the angle of the submarine aid wing surface; S4, the angle sensing module captures the actual rotation angle of the wing surface in real time and sends the data back to the water control system. The water control system completes closed-loop verification by comparing the sent commands with the actual parameters sent back: if the error is within the set range, the adjustment is considered successful; if the error exceeds the limit, the command is immediately resent; if the system fails to synchronize for a set number of consecutive times, it is considered to be mechanically stuck or entangled, and the water control system automatically cuts off the motor power and triggers an audible and visual alarm, switching to safety protection mode.

Images