阅读说明：本技术 一种面向海洋观测与水下回收的开架式水下拖体 (Open-frame underwater towed body for ocean observation and underwater recovery ) 是由 向先波 周光照 刘传 杨少龙 向巩 于 2021-06-12 设计创作，主要内容包括：本发明公开了一种面向海洋观测与水下回收的开架式水下拖体,开架式水下拖曳体由控制舱、浮筒、舵机舱、可控舵板和支撑架组成,可在复杂的水下环境中,通过调整不同舵角,实现对水下拖曳体本身进行深度和姿态的控制。本发明的开架式水下拖曳体相比于仅有一对迫沉水翼的拖体,深度控制更加稳定,姿态控制效果更好。可作为水下自主航行器回收装置,采用坞站式回收,将水下自主航行器驶入拖体内部拖回水面。亦可作为搭载各种水下探测仪器的平台,提高水下探测精度和工作效率。(The invention discloses an open-frame underwater towed body for ocean observation and underwater recovery, which consists of a control cabin, a buoy, a rudder cabin, a controllable rudder plate and a support frame, and can realize the control of the depth and the attitude of the underwater towed body by adjusting different rudder angles in a complex underwater environment. Compared with the towing body with only one pair of forced sinking hydrofoils, the open-frame underwater towing body has more stable depth control and better attitude control effect. The underwater autonomous vehicle recovery device can be used as an underwater autonomous vehicle recovery device, and the underwater autonomous vehicle is driven into the towed body and towed back to the water surface by adopting docking station type recovery. The underwater detection platform can also be used as a platform for carrying various underwater detection instruments, and the underwater detection precision and the working efficiency are improved.)

1. The utility model provides an open-frame underwater towed body towards ocean observation and retrieve under water for carry on underwater detection instrument and carry out ocean observation, its characterized in that: the open-frame underwater towed body comprises a control cabin 1, an upper floating cylinder 2.1, a lower floating cylinder 2.2, a controllable rudder plate 3, a rudder cabin 4 and a support frame 5;

open-frame underwater towed body top is provided with two upper pontoons 2.1, and the below is provided with two lower pontoons 2.2, be fixed with four pipes on the lateral surface of control cabin 1, four pipes of control cabin 1 respectively with the front end welding of upper pontoon 2.1 and lower pontoon 2.2, support frame 5 welds at the middle part of upper pontoon 2.1 and lower pontoon 2.2, the inside both ends of upper pontoon 2.1 are provided with steering wheel 4.2, the both ends of lower pontoon 2.2 respectively with rudder cabin 4 welding, the inside steering wheel 4.2 that is provided with of rudder cabin 4, the one end of controllable rudder board 3 and the steering wheel axle rigid coupling of steering wheel 4.2, the rotatable setting of the other end is in the circular slot on upper pontoon 2.1 or rudder cabin 4.

2. The open-frame underwater towed vehicle for marine observation and underwater recovery of claim 1, wherein: the control cabin 1 comprises a towing ring 1.1, a control cabin body 1.2, a supporting pipe 1.3, a reinforcing rib 1.4, a hatch cover 1.5, an in-cabin support 1.6 and a protective cover 1.7;

the towing ring 1.1 is arranged at the front end of the control cabin 1, is connected with the control cabin body 1.2 through threads and is used for fixing the towing cable; the supporting tube 1.3 is welded around the control cabin body 1.2, is communicated with the inside of the control cabin and is used for wiring, and reinforcing ribs 1.4 are arranged outside the supporting tube for reinforcing; the hatch cover 1.5 is fixed with the control cabin body 1.2 through bolts, and the cabin inner support 1.6 is placed in the control cabin and connected with the hatch cover 1.5; the protective cover 1.7 is fixedly connected with the hatch 1.5.

3. The open-frame underwater towed vehicle for marine observation and underwater recovery of claim 1, wherein: the upper buoy 2.1 comprises a front cover 2.01, an upper buoy body 2.02 and a rear cover 2.06, and the front cover 2.01 and the rear cover 2.06 are in threaded sealing connection with the upper buoy body 2.02 and used for sealing the upper buoy 2.1;

the lower buoy 2.2 comprises a front cover 2.01, a lower barrel 2.03, a balance weight 2.04, a hatch cover 2.05, a rear cover 2.06 and a rudder cabin 4, the lower barrel 2.03 is fixedly provided with the hatch cover 2.05 through screws, the hatch cover 2.05 is in non-sealing connection with the lower barrel 2.03, the balance weight 2.04 is fixed in the lower barrel 2.03 through bolts, the rudder cabin 4 is fixed at two ends of the lower barrel 2.03, and the rudder cabin 4 at the two ends are respectively in threaded sealing with the front cover 2.01 and the rear cover 2.06.

4. The open-frame underwater towed vehicle for marine observation and underwater recovery of claim 1, wherein: the controllable rudder plate 3 comprises a rudder plate 3.1, a rudder plate shaft 3.2, a routing pipe 3.3 and a fixed bent plate 3.4; the rudder plate shaft 3.2 penetrates into the rudder plate 3.1 and is fixedly connected with the rudder plate 3.1 through screws; both ends of the wiring pipe 3.3 and the fixed bent plate 3.4 are welded on the upper buoy or the lower buoy and are respectively used for wiring and fixed support.

5. The open-frame underwater towed vehicle for marine observation and underwater recovery of claim 1, wherein: steering wheel 4.2 links firmly with buoy body 4.1, and steering wheel 4.2's output shaft and shaft coupling 4.3 butt joint, and oil blanket 4.4 is placed in 4.1 round hole departments of buoy body for sealed, and transmission shaft 4.4 passes oil blanket 4.4, and 4.3 butt joints with the shaft coupling.

6. The open-frame underwater towed vehicle for marine observation and underwater recovery of claim 1, wherein: support frame 5 comprises pipe 5.1 and installation fixed ring 5.2, and pipe 5.1 homogeneous weld is on installation fixed ring 5.2 for strengthen the towed body structural strength, installation fixed ring 5.2 has the mounting hole of reserving to be used for installing underwater detector.

7. The open-frame underwater towed vehicle for marine observation and underwater recovery of claim 2, wherein: the hatch cover 1.5 is provided with a watertight connector connected with a towing cable on the mother ship for power supply and information transmission, and is also provided with a leakage test interface which can detect whether water leakage occurs at any time by a pressing leakage test method, and a depth meter sensor interface which is provided with a pressure type protective cover 1.7 for reducing the surrounding flow speed because the flow of water flow can influence the accuracy.

8. The open-frame underwater towed vehicle for marine observation and underwater recovery of claim 6, wherein: when the towed body is used for recovering the underwater autonomous vehicle, the reserved holes on the fixed ring 5.2 and the fixed bent plate 3.4 are correspondingly connected one by using thin metal rods to form a recovery guide device, so that the underwater autonomous vehicle can conveniently drive into the towed body from the rear part of the underwater towed body and can be firmly towed to the water surface by installing the fixed ring 5.2.

9. An open-frame underwater tow for marine observation and underwater recovery according to claims 2-5 and characterised in that: the power supply and communication lines from the control cabin 1 reach the positions of eight steering engines, a wiring pipe 3.3 is arranged on each controllable rudder plate 3 and used for connecting buoys at two ends, connection between any two steering engines is achieved, and the control cabin 1 is communicated with the upper buoy and the lower buoy through a control cabin supporting pipe 1.3.

Technical Field

The invention belongs to the field of unmanned underwater vehicles, and particularly relates to an open-frame type underwater towed body for ocean observation and underwater recovery.

Background

With the development of ocean development and utilization, ocean observation has entered the stereoscopic observation stage. The aerospace remote sensing technology realizes large-area, real-time and quasi-real-time synchronous observation on the ocean surface layer. The monitoring technologies such as a sea surface observation platform, a fixed-point buoy and the like basically realize long-term, continuous and fixed-point observation of a sea-air interface. In order to research resources in the ocean and find reserve information of ocean resources, the support of an ocean detection technology is needed, and the current unmanned underwater observation technology is mainly divided into an underwater towed body, an unmanned remote control aircraft and an underwater autonomous aircraft.

The underwater towed body belongs to a towed unmanned underwater vehicle. The working mode of the underwater navigation device is that a mother ship on the water surface drags a towing body to navigate underwater through a towing cable. The main power of the towed body is provided by a towing cable, and a propeller can also be arranged to provide auxiliary power. The streamer also acts as a communications cable, distributing control information and collecting status information for the sensors and the towed body. Therefore, the voyage of the towed body is basically guaranteed by the working mother ship, and the towed body can sail in a large range for a long time. The towed body can carry different underwater detectors for navigation according to different task requirements. For submarine resource detection, the near-bottom detection performed by the underwater towed body has higher precision than the water surface detection. Compared with other near-bottom detection modes, the towing body is more popular due to simple structure, convenient operation and lower manufacturing cost, but the navigation speed and the posture of the existing underwater towing body are not easy to keep stable.

In most cases, unmanned underwater vehicles are intended to be recyclable and must be able to be recovered after the task is completed. Therefore, how to realize rapid, safe and reliable recovery of the unmanned underwater vehicle has become a research focus of the unmanned underwater vehicle technology. Generally, recovery modes of unmanned underwater vehicles can be divided into surface recovery and underwater recovery. Compared with the water surface recovery mode, the underwater recovery mode is less influenced by sea conditions, has high speed, is more concealed and flexible, and becomes the development trend of the recovery technology of small and medium-sized unmanned underwater vehicles. The underwater recovery mode mainly comprises four modes of traction recovery, mechanical arm recovery, direct butt joint recovery, mother boat recovery and the like. The traction recovery and the mechanical arm recovery are in butt joint with the unmanned underwater vehicle by adopting the intermediary device, so that the collision between the unmanned underwater vehicle and the mother boat can be avoided, and the requirement on the position and posture control of the intermediary device is high. Direct docking recovery does not require intermediate devices, but collisions resulting from direct docking can damage unmanned underwater vehicles or mother boats. The attached mother boat is recovered, so that the unmanned underwater vehicle can directly land and be attached to the mother boat, but the recovery mode needs to greatly modify the external structure of the mother boat, and the difficulty of the related technology is very high.

Disclosure of Invention

Aiming at the defects or improvement requirements of the ocean observation technology and the underwater recovery technology, the invention provides an open-frame type underwater towed body for ocean observation and underwater recovery. Through arrangement and analysis of the underwater towed body mechanical structure and the rudder, the underwater towed body structure has the functions of keeping the depth and stabilizing the posture, can solve the problem of low accuracy of observed data caused by instability in the carrying process of a marine instrument, and can meet the requirement of underwater traction recovery on pose control of an intermediary device.

To achieve the above object, according to one aspect of the present invention, there is provided an open-frame underwater towed body for marine observation and underwater recovery.

An open-frame underwater towed body for ocean observation and underwater recovery is used for carrying an underwater detection instrument to carry out ocean observation, and comprises a control cabin 1, an upper floating cylinder 2.1, a lower floating cylinder 2.2, a controllable rudder plate 3, a rudder cabin 4 and a support frame 5; open-frame underwater towed body top is provided with two upper pontoons 2.1, and the below is provided with two lower pontoons 2.2, be fixed with four pipes on the lateral surface of control cabin 1, four pipes of control cabin 1 respectively with the front end welding of upper pontoon 2.1 and lower pontoon 2.2, support frame 5 welds at the middle part of upper pontoon 2.1 and lower pontoon 2.2, the inside both ends of upper pontoon 2.1 are provided with steering wheel 4.2, the both ends of lower pontoon 2.2 respectively with rudder cabin 4 welding, the inside steering wheel 4.2 that is provided with of rudder cabin 4, the one end of controllable rudder board 3 and the steering wheel axle rigid coupling of steering wheel 4.2, the rotatable setting of the other end is in the circular slot on upper pontoon 2.1 or rudder cabin 4.

Further, the control cabin 1 comprises a towing ring 1.1, a control cabin body 1.2, a supporting pipe 1.3, a reinforcing rib 1.4, a hatch cover 1.5, an in-cabin support 1.6 and a protective cover 1.7; the towing ring 1.1 is arranged at the front end of the control cabin 1, is connected with the control cabin body 1.2 through threads and is used for fixing the towing cable; the supporting tube 1.3 is welded around the control cabin body 1.2, is communicated with the inside of the control cabin and is used for wiring, and reinforcing ribs 1.4 are arranged outside the supporting tube for reinforcing; the hatch cover 1.5 is fixed with the control cabin body 1.2 through bolts, and the cabin inner support 1.6 is placed in the control cabin and connected with the hatch cover 1.5; the protective cover 1.7 is fixedly connected with the hatch 1.5.

Further, the upper buoy 2.1 comprises a front cover 2.01, an upper buoy body 2.02 and a rear cover 2.06, wherein the front cover 2.01 and the rear cover 2.06 are in threaded sealing connection with the upper buoy body 2.02 and used for sealing the upper buoy 2.1; the lower buoy 2.2 comprises a front cover 2.01, a lower barrel 2.03, a balance weight 2.04, a hatch cover 2.05, a rear cover 2.06 and a rudder cabin 4, the lower barrel 2.03 is fixedly provided with the hatch cover 2.05 through screws, the hatch cover 2.05 is in non-sealing connection with the lower barrel 2.03, the balance weight 2.04 is fixed in the lower barrel 2.03 through bolts, the rudder cabin 4 is fixed at two ends of the lower barrel 2.03, and the rudder cabin 4 at the two ends are respectively in threaded sealing with the front cover 2.01 and the rear cover 2.06.

Further, the controllable rudder plate 3 comprises a rudder plate 3.1, a rudder plate shaft 3.2, a routing pipe 3.3 and a fixed bent plate 3.4; the rudder plate shaft 3.2 penetrates into the rudder plate 3.1 and is fixedly connected with the rudder plate 3.1 through screws; both ends of the wiring pipe 3.3 and the fixed bent plate 3.4 are welded on the upper buoy or the lower buoy and are respectively used for wiring and fixed support.

Furthermore, steering wheel 4.2 links firmly with buoy body 4.1, and steering wheel 4.2's output shaft and shaft coupling 4.3 butt joint, and oil blanket 4.4 is placed in 4.1 round holes on buoy body for sealed, and transmission shaft 4.4 passes oil blanket 4.4, and 4.3 butt joints with the shaft coupling.

Further, support frame 5 comprises pipe 5.1 and installation fixed ring 5.2, and pipe 5.1 homogeneous weld is on installation fixed ring 5.2 for strengthen the towed body structural strength, installation fixed ring 5.2 has the mounting hole of reserving to be used for installing underwater detector.

Furthermore, the hatch cover 1.5 is provided with a watertight connector connected with a towing cable on the mother ship for supplying power and transmitting information, and a leakage test interface which can detect whether water leakage occurs at any time by a method of pressing leakage test, and a depth gauge sensor interface which has an influence on accuracy of water flow due to the fact that the depth is of a pressure type, so that the arranged protective cover 1.7 has the effect of reducing the surrounding flow speed.

Further, when the towed body is used for recovering the underwater autonomous vehicle, the reserved holes in the fixed ring 5.2 and the fixed bent plate 3.4 are correspondingly connected one by one through thin metal rods to form a recovery guiding device, the towed body can be conveniently driven into the inside of the towed body behind the underwater autonomous vehicle, and the towed body can be fastened to be towed to the water surface through the fixed ring 5.2.

Furthermore, power supply and communication lines from the control cabin 1 reach the positions of the eight steering engines, a wiring pipe 3.3 is arranged on each controllable rudder plate 3 and used for connecting buoys at two ends, connection between any two steering engines is achieved, and the control cabin 1 is communicated with the upper buoy and the lower buoy through a control cabin supporting pipe 1.3.

In general, compared with the prior art, the above technical solution contemplated by the present invention can obtain the following beneficial effects:

1. the existing underwater towed body generally adopts a single structure provided with a forced sinking hydrofoil, and the invention designs the underwater towed body with a frame type structure, wherein the frame type structure has large shaking motion damping and better stability compared with the single structure. The frame-type structure of four pontoons makes its motion damping big in the aquatic itself, when receiving external force to disturb, the gesture is difficult for changing. In addition, the upper buoy is completely watertight, the middle section of the lower buoy is a water permeable section, and ballast can be configured inside the upper buoy, so that the height of the center of gravity is reduced, and the transverse stability is further improved.

2. The underwater towed body designed by the invention adopts a multi-control-surface design, and can flexibly control the depth and the attitude. The longitudinal inclination angle of the single horizontal wing towed body inevitably changes in the submerging and surfacing process, and for the towed body, the longitudinal inclination angle can be controlled by controlling the stern horizontal rudder while controlling the lifting force generated by the bow horizontal rudder to be deepened. Similarly, the vertical rudder arranged between the bow and the stern can simultaneously control the rolling motion and the yawing motion of the towed body. The design of multiple control surfaces has strong attitude control capability, and can meet the requirements of ocean observation and underwater recovery on the attitude of the towed body.

3. The underwater towed body is designed to be large in rudder area and is provided with eight controllable rudder plates, the spread length of each rudder plate is 467mm, and the chord length of each rudder plate is 200 mm. The large rudder area means the improvement of the load capacity, each rudder can provide the lift force of more than 10kg, a large amount of installation space is reserved among the four buoys and can be used for installing various underwater detectors, the simultaneous work of the various underwater detectors can be realized, and the ocean observation efficiency is greatly improved.

4. The underwater towed body adopts a multi-cabin sealed communication design, the watertight cabin is provided with two upper buoy cabins, four rudder cabins and a control cabin, and a wiring pipe is arranged in front of each rudder plate to communicate the two rudder cabins or the buoy cabins. And finally, the four circular tubes of the control cabin are communicated with the control cabin, so that power supply and communication among multiple cabins are realized, and the safety and the reliability are improved.

5. The underwater towed body structure takes two purposes of ocean observation and underwater recovery into consideration during the design of the underwater towed body structure, and not only can be used as a carrying platform of an ocean instrument, but also can be used as a recovery device of an unmanned underwater autonomous vehicle. The docking traction recovery of the unmanned underwater autonomous vehicle can be realized only by connecting the reserved holes at the rear part of the underwater towed body to form a recovery guiding device.

Drawings

FIG. 1 is a schematic view of an open-frame underwater towed body;

FIG. 2 is a schematic drawing of the towing operation of the underwater towed body of the present invention;

FIG. 3 is a schematic view of the underwater recovery configuration of the present invention;

FIG. 4 is a schematic view of the control pod configuration of the present invention;

FIG. 5 is a schematic view of the control cabin interior mounting bracket configuration;

FIG. 6 is a schematic view of the configuration of the upper float bowl of the present invention;

FIG. 7 is a schematic view of a lower float section of the present invention;

FIG. 8 is a schematic view of a controllable rudder according to the present invention;

FIG. 9 is a schematic view of a rudder nacelle structure of the present invention;

FIG. 10 is a schematic view of the support frame of the present invention;

in the figure, a control cabin 1, an upper floating barrel 2.1, a lower floating barrel 2.2, a controllable rudder plate 3, a rudder cabin 4, a support frame 5, a towing ring 1.1, a control cabin body 1.2, a support tube 1.3, a reinforcing rib 1.4, a hatch cover 1.5, an in-cabin support 1.6, a protective cover 1.7, a front cover 2.01, an upper cylinder body 2.02, a lower cylinder body 2.03, a balance weight 2.04, a cabin cover 2.05, a rear cover 2.06, a rudder plate 3.1, a rudder plate shaft 3.2, a routing pipe 3.3, a fixed bent plate 3.4, a buoy body 4.1, a steering engine 4.2, a coupler 4.3, a transmission shaft 4.4, an oil seal 4.5, a circular pipe 5.1 and a mounting fixing ring 5.2 are arranged.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.

As shown in figure 1, the invention discloses an open-frame underwater towed body for ocean observation and underwater recovery, which consists of a control cabin 1, buoys (an upper buoy 2.1 and a lower buoy 2.2), a controllable rudder plate 3, a rudder cabin 4 and a support frame 5.

Fig. 2 shows a state diagram of the open-frame underwater towed body mother ship in towing.

As shown in fig. 4 and 5, the control cabin 1 includes a towing ring 1.1, a control cabin body 1.2, a support pipe 1.3, a reinforcing rib 1.4, a hatch cover 1.5, an in-cabin support 1.6 and a protective cover 1.7. The towing ring 1.1 is arranged foremost and is connected with the control cabin 1.2 through threads for fixing the towing cable. The supporting tube 1.3 is welded around the control cabin body 1.2, the middle of the supporting tube is communicated with the inside of the control cabin and used for wiring, and reinforcing ribs 1.4 are arranged outside the supporting tube for reinforcing. The hatch cover 1.5 is fixed with the cabin body through bolts, and the support 1.6 in the cabin is placed in the cabin and connected with the hatch cover 1.5. The hatch cover 1.5 is provided with a watertight connector connected with a towing cable on a mother ship for supplying power and transmitting information, and is also provided with a leakage test interface which can detect whether water leaks at any time by a pressing leakage test method, and a depth meter sensor interface which is arranged on the hatch cover 1.5, and because the depth is of a pressure type, the flow of water can influence the accuracy, so that the protective cover 1.7 is fixedly connected with the hatch cover 1.5, and the surrounding flow velocity can be reduced.

As shown in fig. 6 and 7, the upper buoy 2.1 comprises a front cover 2.01, an upper cylinder body 2.02 and a rear cover 2.06, wherein the front cover 2.01 and the rear cover 2.06 are in threaded sealing connection with the upper cylinder body 2.02 and used for sealing the upper buoy 2.1; the lower buoy 2.2 comprises a front cover 2.01, a lower barrel 2.03, a counterweight 2.04, a hatch cover 2.05, a rear cover 2.06 and a rudder cabin 4, the lower barrel 2.03 is fixedly provided with the hatch cover 2.05 through screws, the hatch cover 2.05 is in non-sealing connection with the lower barrel 2.03, seawater can be poured into the lower barrel 2.03, and the counterweight 2.04 is fixed in the lower barrel 2.03 through bolts and used for adjusting the floating state of the towed body. Two ends of the lower barrel body 2.03 are fixed with rudder engine rooms 4, and the rudder engine rooms 4 at the two ends are respectively sealed with the front cover 2.01 and the rear cover 2.06 through threads.

As shown in fig. 8, the controllable rudder plate 3 includes a rudder plate 3.1, a rudder plate shaft 3.2, a routing pipe 3.3 and a fixed bent plate 3.4. The rudder plate shaft 3.2 penetrates into the rudder plate 3.1 and is fixedly connected with the screw of the rudder plate shaft. Two ends of the wiring pipe 3.3 and the fixed bent plate 3.4 are welded on the upper buoy 2.1 or the lower buoy 2.2 and are respectively used for wiring and fixed support.

As shown in fig. 9, the steering engine 4.2 is fixedly connected with the buoy body 4.1, an output shaft of the steering engine 4.2 is in butt joint with the coupler 4.3, the oil seal 4.4 is placed at a round hole of the buoy body 4.1 for sealing, and the transmission shaft 4.4 penetrates through the oil seal 4.4 to be in butt joint with the coupler 4.3.

As shown in fig. 10, the support frame 5 is composed of a circular tube 5.1 and an installation fixing ring 5.2, the circular tube 5.1 is uniformly welded on the installation fixing ring 5.2 and used for reinforcing the structural strength of the towed body, and the installation fixing ring 5.2 is provided with a reserved installation hole for installing an underwater detector.

When the towed body is used for recovering the underwater autonomous vehicle, the reserved holes on the fixed ring 5.2 and the fixed bent plate 3.4 are correspondingly connected one by using thin metal rods to form a recovery guide device, so that the underwater autonomous vehicle can conveniently drive into the towed body from the rear part of the underwater towed body and can be firmly towed to the water surface by installing the fixed ring 5.2. The power supply and communication lines from the control cabin 1 reach the positions of eight steering engines, a wiring pipe 3.3 is arranged on each controllable rudder plate 3 and used for connecting buoys at two ends, connection between any two steering engines is achieved, and the control cabin 1 is communicated with the upper buoy and the lower buoy through a control cabin supporting pipe 1.3.

The following describes two working modes of marine observation and underwater recovery with reference to fig. 2 and 3:

as shown in figure 2, the underwater exploration instrument is arranged among four buoys of the towed body, the possibility of instrument damage caused by touch is reduced, the towed body is towed by a mother ship on the water surface to sail underwater through the towing cable, and the main power of the towed body is provided by the towing cable. When the depth needs to be adjusted, the front horizontal rudder rotates a certain angle to generate a force of forcing sinking so that the towed body moves to the corresponding depth. When the trim needs to be adjusted, the rear horizontal rudder rotates for a certain angle to generate a trim moment so as to keep the trim angle at 0. The adjustment methods of the rolling and the yawing are the same as the adjustment methods of the heaving and the pitching. Therefore, the position and the posture can be kept stable, and accurate ocean observation can be realized.

As shown in figure 3, the rear part of the towed body is connected with the prepared hole by a thin metal rod to form a recovery guiding device. When the towing position of the underwater towed body is kept stable, the autonomous underwater vehicle drives into the underwater towed body from the rear of the underwater towed body, the internal device is fastened and towed back to the mother ship by the towing cable, and the underwater recovery task is completed.

In order to facilitate the integral hoisting of the towing body, a hoisting ring can be arranged on the rear cover 2.06 of the upper buoy 2.1 as shown in fig. 1-3.

In conclusion, the open-frame type underwater towed body is reasonable in design and flexible to operate, and can realize accurate control of the depth and the posture of the towed body in a complex underwater environment. The underwater detection device can be used as a carrying platform of various underwater detection instruments, and improves the underwater detection precision and the working efficiency. The device can also be used as an autonomous underwater vehicle recovery device to finish the underwater traction recovery work of the autonomous underwater vehicle.

Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments or portions thereof without departing from the spirit and scope of the invention.