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Control method of mobile multilayer marine environment profile monitoring system

A marine environment and profile monitoring technology, applied in ship parts, ships, tugboats, etc., can solve the problems of uncontrollable attitude, large towing angle, large towing energy consumption, etc., to ensure measurement depth, reduce towing resistance, The effect of reducing the energy consumption of towing

Active Publication Date: 2022-07-08
CETC NINGBO MARINE ELECTRONICS RES INST
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Problems solved by technology

However, in the above-mentioned patents, the attitude of the tow chain or cable cannot be controlled under different towing speeds, which may easily lead to inaccurate layered monitoring parameters of the sensor, and the towing resistance of the monitoring device is relatively large, which may easily lead to a larger towing angle and insufficient measurement depth of the sensor. , while dragging consumes a lot of energy

Method used

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  • Control method of mobile multilayer marine environment profile monitoring system
  • Control method of mobile multilayer marine environment profile monitoring system
  • Control method of mobile multilayer marine environment profile monitoring system

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Embodiment Construction

[0037] Specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0038] like Figure 1-5 As shown, a control method for a mobile multi-layer marine environment profile monitoring system, wherein the monitoring system includes a tugboat 1, a tow chain 2, and a submersible 3, and the tow chain 2 connects the tugboat 1 and the submersible 3, and the tugboat 1 is provided with a tow Chain retraction mechanism; drag chain 2 is a cable. The drag chain 2 is provided with more than 10 sensors 4, and the sensor 4 and the drag chain 2 realize power supply and data transmission through electromagnetic coupling;

[0039] The sensor is an airfoil sensor. The outer surface of the airfoil sensor 4 is an airfoil curved surface, and its section curve equation is:

[0040] y=a 1 sin(b 1 x+1 )+a 2 sin(b 2 x+c 2 )+a 3 sin(b 3 x+c 3 );

[0041] Among them, a 1 ∈(-3.716e 4 ,3.726e 4 ), b 1 ∈(-3.897,3.98), c 1 ∈(-3...

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Abstract

The invention discloses a control method of a mobile multilayer marine environment profile monitoring system, the monitoring system comprises a tugboat, a drag chain and an underwater vehicle, the drag chain is connected with the tugboat and the underwater vehicle, and the tugboat is provided with a drag chain retracting and releasing mechanism; at least three sensors are arranged on the drag chain, and power supply and data transmission are realized between the sensors and the drag chain in an electromagnetic coupling manner; the control method specifically comprises the following steps: step 1, laying the underwater vehicle and the drag chain; step 2, monitoring navigation states of the tugboat and the underwater vehicle; step 3, predicting the attitude of the drag chain; and 4, drag chain attitude control: solving to obtain the position of the underwater vehicle and the adjustment length of the drag chain, and further controlling the underwater vehicle to move.

Description

technical field [0001] The invention relates to the field of marine environment monitoring, in particular to a control method of a mobile multi-layer marine environment profile monitoring system. Background technique [0002] Marine monitoring technology is an important part of marine science and technology, and plays a very important role in safeguarding marine rights and interests, developing marine resources, early warning of marine disasters, protecting marine environment, and strengthening national defense. The monitoring methods of seawater parameters can be divided into sampling detection and in-situ online monitoring. The sampling detection is carried out by manual or mechanical force for many times of seawater sampling and then brought back to the shore for detection. This method is suitable for complex seawater parameter detection and analysis, but the efficiency is low. In-situ online monitoring monitors seawater parameters in real time through a sensor system arr...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B63B35/68B63C11/52B63B21/66
CPCB63B35/68B63C11/52B63B21/66B63B2021/003
Inventor 王小春周建英万德松富玲峰徐浩王炜皋木建一刘银泉黄毫军陈凯明
Owner CETC NINGBO MARINE ELECTRONICS RES INST
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