CN117950135A - Submarine optical cable laying device and submarine optical cable laying method based on unmanned submersible vehicle - Google Patents
Submarine optical cable laying device and submarine optical cable laying method based on unmanned submersible vehicle Download PDFInfo
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- CN117950135A CN117950135A CN202410219394.3A CN202410219394A CN117950135A CN 117950135 A CN117950135 A CN 117950135A CN 202410219394 A CN202410219394 A CN 202410219394A CN 117950135 A CN117950135 A CN 117950135A
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- submersible vehicle
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- vehicle body
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- 230000003287 optical effect Effects 0.000 title claims abstract description 79
- 238000000034 method Methods 0.000 title claims description 20
- 238000004804 winding Methods 0.000 claims abstract description 56
- 238000010008 shearing Methods 0.000 claims abstract description 30
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 25
- 239000010959 steel Substances 0.000 claims abstract description 25
- 230000005484 gravity Effects 0.000 claims description 4
- 230000000149 penetrating effect Effects 0.000 claims description 3
- 230000003014 reinforcing effect Effects 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 6
- 238000009434 installation Methods 0.000 description 3
- 239000010730 cutting oil Substances 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 239000000835 fiber Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000002787 reinforcement Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B6/00—Light guides; Structural details of arrangements comprising light guides and other optical elements, e.g. couplings
- G02B6/46—Processes or apparatus adapted for installing or repairing optical fibres or optical cables
- G02B6/50—Underground or underwater installation; Installation through tubing, conduits or ducts
- G02B6/506—Underwater installation
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Electric Cable Installation (AREA)
Abstract
The submarine optical cable laying device based on the unmanned submersible vehicle comprises an unmanned submersible vehicle body, wherein a flexible manipulator is loaded on the bow part of the unmanned submersible vehicle body, and a cable laying device is fixed in the tail part area of the unmanned submersible vehicle body; the cable laying device has the structure that: the cable laying winch comprises a winding and unwinding winch body and a cable laying winch body which are distributed up and down, wherein a shearing mechanism and a first cable arranging mechanism are arranged on a frame of the winding and unwinding winch body, a steel wire rope is wound on a first winding drum of the winding and unwinding winch body, the steel wire rope penetrates through the first cable arranging mechanism and the shearing mechanism, and the tail end of the steel wire rope is connected to the cable laying winch body; the cable laying winch comprises a cable laying winch body, and is characterized in that a connector for installing a steel wire rope is arranged at the top of the cable laying winch body, a second winding drum is arranged in the cable laying winch body, an optical cable is wound on the second winding drum, a first wet plug connected with the optical cable is arranged on the side face of the second winding drum, the first wet plug is pulled out by a flexible manipulator, a second cable arranging mechanism is arranged on one side of the second winding drum, and the optical cable passes through the second cable arranging mechanism and then is connected with the second wet plug, so that the cable laying winch is reliable in operation.
Description
Technical Field
The invention relates to the technical field of submarine optical cable laying, in particular to a submarine optical cable laying device and a submarine optical cable laying method based on an unmanned submersible vehicle.
Background
Submarine optical cables are mainly used for the national interior and for the national-to-national telecommunication transmission. With the wider and wider application fields of submarine optical cables, the rapid installation and laying of the optical cables are also becoming a concern. The submarine optical cable is mainly laid on the seabed, and is mainly buried in shallow sea areas and laid in deep sea areas. In the prior art, most of submarine optical cable laying work depends on a cable laying ship for laying, and the following three defects mainly exist:
firstly, the personnel are involved, the engineering quantity is huge, and the cost is high;
Secondly, the operation environment of the cable laying ship is greatly influenced by sea conditions, and when the environment with great wind and waves is encountered, the operation cannot be performed, so that the operation progress is seriously influenced;
thirdly, the path of the cable laying ship sailing on the water surface is easy to detect and record, so that the submarine information network of China is exposed, and huge safety risks exist.
Accordingly, in order to solve the above-mentioned problems, an apparatus and a method for laying an undersea optical cable based on an unmanned submersible vehicle have been proposed.
Disclosure of Invention
The application aims at the defects in the prior art, and provides a submarine optical cable laying device and a cable laying method based on an unmanned submersible vehicle, so that the influence of severe stormy wave environment on the sea surface can be effectively avoided, the cable laying difficulty is greatly reduced, the operation efficiency is improved, and the autonomous laying of the optical cable can be realized.
The technical scheme adopted by the invention is as follows:
the submarine optical cable laying device based on the unmanned submersible comprises an unmanned submersible body, wherein a flexible manipulator is carried on the bow of the unmanned submersible body, and a cable laying device is fixed in the tail area of the unmanned submersible body;
The cable laying device has the structure that: the cable laying winch comprises a winding and unwinding winch body and a cable laying winch body which are distributed up and down, wherein a shearing mechanism and a first cable arranging mechanism are arranged on a frame of the winding and unwinding winch body, a steel wire rope is wound on a first winding drum of the winding and unwinding winch body, the steel wire rope penetrates through the first cable arranging mechanism and the shearing mechanism, and the tail end of the steel wire rope is connected to the cable laying winch body; the top of shop cable winch body is provided with the joint of installation wire rope, shop cable winch body's internally mounted No. two reels, and the winding has the optical cable on No. two reels, and No. two reels's side is provided with the wet plug of No. one with optical cable connection, and No. one wet plug is pulled out by nimble manipulator, and No. two cable arranging mechanism is installed to No. two reels one side, and the optical cable passes No. two wet plug of No. two cable arranging mechanism back connection.
The further technical scheme is as follows:
the cable laying winch body is suspended inside the unmanned submersible vehicle body through a steel wire rope.
The structure of the shearing mechanism is as follows: the device comprises a support frame with a Z-shaped structure, a shearing cylinder is fixed on the support frame, a blade is fixed on an extending rod of the shearing cylinder, a through hole penetrating through a steel wire rope is further formed in the support frame, and a support plate is further arranged at the end part of the support frame.
The supporting plate is positioned beside the through hole.
The backup pad is perpendicular with the support frame, and the reinforcement rib board is still installed in the outside of backup pad.
The diameter of the through hole is larger than that of the steel wire rope.
The blade is in a right angle structure.
The second wet plug is in a free state.
A cabling method of a submarine cable laying device, comprising the following steps of:
step one: the unmanned submersible vehicle body is positioned to the first node through a vision system;
Step two: the unmanned submersible vehicle body autonomously executes an instruction, a motor on the cable laying winch body is controlled to drive the second winding drum to rotate, and the second wet plug and the optical cable in a free state are released from the unmanned submersible vehicle body under the gravity traction of the second wet plug and the rotation of the second winding drum until the second wet plug contacts the seabed;
Step three: the unmanned submersible vehicle body searches for and positions a second wet plug along the optical cable, and the second wet plug is grabbed by a flexible manipulator and is plugged onto the first node;
Step four: the unmanned submersible vehicle body continuously sails towards the second node, the second winding drum of the cable laying winch body rotates to continuously release the optical cable in the sailing process, the speed of releasing the optical cable is consistent with the speed of the unmanned submersible vehicle body sailing forwards, and the situation that the optical cable is torn or laid and piled on the seabed due to mismatching of the speeds of the two is avoided;
step five: after the optical cables are completely released, the unmanned submersible vehicle body is in a hovering state, then an instruction is automatically executed, a motor on the winding and unwinding winch body is controlled to drive a first winding drum to rotate, the whole cable laying winch body is released to the unmanned submersible vehicle body until the cable laying winch body sits down to the seabed, the unmanned submersible vehicle body automatically executes the instruction, a shearing mechanism is controlled to cut off a steel wire rope, the cable laying winch body is laid on the seabed for a long time, if the seabed is found to be uneven, when the cable laying winch body is not suitable to be released, the winding and unwinding winch body is controlled to retract the cable laying winch body into the unmanned submersible vehicle body, and then the next laying point is found to release the cable laying winch body;
Step six: taking out the first wet plug positioned on the side surface of the second winding drum by the unmanned submersible vehicle body through the flexible manipulator, and plugging and pulling the first wet plug to the second node to finish cable laying;
step seven: after the cable is laid, the unmanned submersible vehicle body starts to cruise, the quality of the optical cable laying is observed, and if the optical cable laying position is found to deviate or pile up, the optical cable laying position is corrected through a flexible manipulator on the unmanned submersible vehicle body.
The beneficial effects of the invention are as follows:
The invention has compact and reasonable structure and convenient operation, can effectively avoid the influence of severe stormy wave environment on the sea surface by redesigning the cable laying device, greatly reduces the cable laying difficulty, improves the cable laying operation efficiency, and can realize the autonomous laying of the optical cable. Meanwhile, the winding and unwinding winch is arranged to control the laying position of the cable laying winch, so that the proper laying position can be found, and the laying quality of the optical cable is ensured.
Drawings
Fig. 1 is a schematic structural view of the present invention.
Fig. 2 is a schematic structural view of the cabling winch of the present invention.
Fig. 3 is a schematic structural view of the shearing mechanism of the present invention.
Fig. 4 is a schematic structural diagram of a step one of the cabling method of the present invention.
Fig. 5 is a schematic structural diagram of a second step of the cabling method of the present invention.
Fig. 6 is a schematic structural diagram of a third step of the cabling method of the present invention.
Fig. 7 is a schematic structural diagram of a fourth step of the cabling method of the present invention.
Fig. 8 is a schematic structural diagram of a fifth step of the cabling method of the present invention.
Fig. 9 is a schematic structural diagram of a step six of the cabling method of the present invention.
Wherein: 1. an unmanned submersible vehicle body; 2. a cable laying device; 3. a flexible manipulator;
201. A winch body is retracted and released; 202. a shearing mechanism; 203. a first reel; 204. a wire rope; 205. a first cable arranging mechanism; 206. a cable winch body; 207. a first wet plug; 208. an optical cable; 209. a second wet plug; 210. a second reel; 211. a second cable arranging mechanism;
2021. a shearing cylinder; 2022. a blade; 2023. a through hole; 2024. a support plate; 2025. and (5) supporting frames.
Detailed Description
The following describes specific embodiments of the present invention with reference to the drawings.
As shown in fig. 1 to 9, the submarine optical cable laying device based on the unmanned submersible vehicle in the embodiment comprises an unmanned submersible vehicle body 1, wherein a flexible manipulator 3 is mounted on the bow part of the unmanned submersible vehicle body 1, and a cable laying device 2 is fixed on the tail part area of the unmanned submersible vehicle body 1;
The cable laying device 2 has the structure that: the winch comprises a winding and unwinding winch body 201 and a cable laying winch body 206 which are vertically distributed, wherein a shearing mechanism 202 and a first cable arranging mechanism 205 are arranged on a frame of the winding and unwinding winch body 201, a wire rope 204 is wound on a first winding drum 203 of the winding and unwinding winch body 201, the wire rope 204 passes through the first cable arranging mechanism 205 and the shearing mechanism 202, and the tail end of the wire rope 204 is connected to the cable laying winch body 206; the top of shop cable winch body 206 is provided with the joint of installation wire rope 204, shop cable winch body 206's internally mounted No. two reels 210, the winding has optical cable 208 on No. two reels 210, no. two reels 210's side is provided with the wet plug 207 of No. one that is connected with optical cable 208, no. one wet plug 207 is pulled out by nimble manipulator 3, no. two cable arranging mechanism 211 is installed to No. two reels 210 one side, optical cable 208 passes No. two cable arranging mechanism 211 back and connects No. two wet plug 209.
The cabling winch body 206 is suspended inside the unmanned submersible vehicle body 1 by a wire rope 204.
The structure of the shear mechanism 202 is: the steel wire rope cutting device comprises a support frame 2025 with a Z-shaped structure, a cutting oil cylinder 2021 is fixed on the support frame 2025, a blade 2022 is fixed on an extending rod of the cutting oil cylinder 2021, a through hole 2023 penetrating through the steel wire rope 204 is further formed in the support frame 2025, and a support plate 2024 is further arranged at the end part of the support frame 2025.
The support plate 2024 is located beside the through hole 2023.
The support plate 2024 is perpendicular to the support frame 2025, and reinforcing ribs are further installed on the outer side of the support plate 2024.
The diameter of the through hole 2023 is larger than the diameter of the wire rope 204.
The blade 2022 is in a right angle configuration.
The wet plug 209 is in a free state.
The cabling method of the submarine cable laying device based on the unmanned submersible vehicle of the embodiment comprises the following operation steps:
step one: the unmanned submersible vehicle body 1 is positioned to the first node through a vision system;
Step two: the unmanned submersible vehicle body 1 autonomously executes an instruction to control a motor on the cable laying winch body 206 to drive the second winding drum 210 to rotate, and under the gravity traction of the second wet plug 209 and the rotation of the second winding drum 210, the second wet plug 209 and the optical cable 208 which are in a free state are released from the unmanned submersible vehicle body 1 until the second wet plug 209 contacts the seabed;
step three: the unmanned submersible vehicle body 1 searches for and positions a second wet plug 209 along the optical cable 208, and the second wet plug 209 is grabbed by the flexible manipulator 3 and is plugged onto the first node;
Step four: the unmanned submersible vehicle body 1 continuously sails towards the second node, the second winding drum 210 of the cable laying winch body 206 rotates to continuously release the optical cable 208 in the sailing process, the speed of releasing the optical cable 208 is consistent with the speed of the unmanned submersible vehicle body 1 sailing forwards, and the situation that the optical cable 208 is torn or laid and piled on the seabed due to mismatching of the speeds of the two is avoided;
Step five: after the optical cables 208 are completely released, the unmanned submersible vehicle body 1 is in a hovering state, then an instruction is automatically executed, a motor on the winding and unwinding winch body 201 is controlled to drive the first winding drum 203 to rotate, the whole cable laying winch body 206 is released to the unmanned submersible vehicle body 1 until the cable laying winch body 206 sits down to the sea floor, the unmanned submersible vehicle body 1 automatically executes the instruction, the shearing mechanism 202 is controlled to cut off the steel wire rope 204, the cable laying winch body 206 is laid on the sea floor for a long time, if the sea floor is uneven and is not suitable for releasing the cable laying winch body 206, the winding and unwinding winch body 201 is controlled to recycle the cable laying winch body 206 into the unmanned submersible vehicle body 1, and then the next laying point is searched for to release the cable laying winch body 206;
Step six: the unmanned submersible vehicle body 1 takes out the first wet plug 207 positioned on the side surface of the second winding drum 210 through the flexible manipulator 3, and inserts and pulls out the first wet plug to the second node to finish cabling;
Step seven: after the cable laying is finished, the unmanned submersible vehicle body 1 starts to cruise, the quality of the optical cable laying is observed, and if the optical cable laying position is found to deviate or pile up, the optical cable laying position is corrected through the flexible manipulator 3 on the unmanned submersible vehicle body 1.
The submarine optical cable laying device based on the unmanned submersible vehicle has the following specific structure and functions:
The unmanned submersible vehicle mainly comprises an unmanned submersible vehicle body 1, a cable laying device 2, a flexible manipulator 3, a winding and unwinding winch body 201, a shearing mechanism 202, a first winding drum 203, a steel wire rope 204, a first cable arrangement mechanism 205, a cable laying winch body 206, a first wet plug 207, an optical cable 208, a second wet plug 209, a second winding drum 210, a second cable arrangement mechanism 211, a shearing cylinder 2021, a blade 2022, a through hole 2023, a supporting plate 2024 and a supporting frame 2025.
The cable laying device 2 comprises a winding and unwinding winch body 201, a shearing mechanism 202, a winding drum 203, a steel wire rope 204, a cable arranging mechanism 205, a cable laying winch body 206, a wet plug 207, an optical cable 208, a wet plug 209, a winding drum 210 and a cable arranging mechanism 211.
The shearing mechanism 202 includes a shearing cylinder 2021, a blade 2022, a through hole 2023, a supporting plate 2024, and a supporting frame 2025.
Wherein, unmanned submersible vehicle body 1 bow carries a portion flexible manipulator 3.
Wherein, cabling arrangement 2 is fixed at unmanned submersible vehicle body 1 afterbody region.
Wherein, the winding winch body 201 is located above the cabling winch body 206, and the two are connected by a steel wire rope 204.
Wherein, receive and release winch body 201 is fixed on unmanned submersible vehicle body 1, and cable laying winch body 206 hangs inside unmanned submersible vehicle body 1 through wire rope 204.
Wherein the shearing mechanism 202 is fixed to the frame of the reel winch body 201.
Wherein the wire rope 204 is wound on the first reel 203 in a multi-turn form.
Wherein the wire rope 204 passes through the first cable arrangement 205 and the through hole 2023 of the shearing mechanism 202, and is connected to the cable winch body 206 at its end.
The first wet plug 207 is located at the side of the second reel 210, the tail is connected with the tail end of the optical cable 208, and the first wet plug 207 can be pulled out by the flexible manipulator 3.
Wherein the fiber optic cable 208 is wound in a plurality of turns around a second spool 210.
Wherein the optical cable 208 is connected to the second wet plug 209 through the second cable arranging mechanism 211.
The tail of the second wet plug 209 is connected to the head end of the optical cable 208, and the second wet plug 209 is in a free state.
Wherein, the shearing cylinder 2021 is fixed on the supporting frame 2025, and the blade 2022 is fixed on the extending rod of the shearing cylinder 2021.
Wherein the stroke of the shear cylinder 2021 can reach the region of the support plate 2024.
Wherein the diameter of the through hole 2023 is larger than the outer diameter of the wire rope 204.
Wherein a support plate 2024 is fixed to a support frame 2025 for serving as an anvil for cutting by the blade 2022.
In the actual working process:
Before cabling, the unmanned submersible vehicle body 1 sails until the target area is in a hovering state. The second reel 210 on the cable winch body 206 is rotated by the motor, and the second wet plug 209 and the optical cable 208 are released from the unmanned submersible vehicle body 1. After the length of the optical cable 208 reaches a certain value, the unmanned submersible vehicle body 1 searches for and positions the second wet plug 209 along the optical cable 208, and grabs the second wet plug 209 by the flexible manipulator 3 to be plugged into the first node. The unmanned aerial vehicle body 1 continues to navigate to the next node, and the cabling winch body 206 continuously releases the fiber optic cable 208 during navigation of the unmanned aerial vehicle body 1. After the optical cables 208 are completely released, the unmanned submersible vehicle body 1 is in a hovering state, the first winding drum 203 of the winding and unwinding winch body 201 is driven by a motor to rotate, and the whole cable laying winch body 206 is released from the unmanned submersible vehicle body 1 until the cable laying winch body 206 sits down to the sea floor. The shear cylinder 2021 drives the blade 2022 to cut the wire rope 204, and the cabling winch body 206 is deployed on the sea floor for a long period of time. The unmanned submersible vehicle body 1 takes out the first wet plug 207 positioned on the side surface of the second winding drum 210 through the flexible manipulator 3, and plugs and pulls out the next node to finish cabling.
The specific cabling process is as follows:
as shown in fig. 4, the unmanned submersible body 1 is positioned to the first node by the vision system.
As shown in fig. 5, the unmanned submersible vehicle body 1 autonomously executes an instruction to control the motor on the cable laying winch body 206 to drive the second reel 210 to rotate. Under the gravity traction of the second wet plug 209 and the rotation of the second reel 210, the second wet plug 209 and the optical cable 208 in the free state are released from the unmanned submersible vehicle body 1 body until the second wet plug 209 contacts the sea floor.
As shown in fig. 6, the unmanned submersible vehicle body 1 searches for and positions the second wet plug 209 along the optical cable 208, and the second wet plug 209 is inserted onto the first node by grabbing the second wet plug 209 by the flexible manipulator 3.
As shown in fig. 7, the unmanned submersible vehicle body 1 continues to navigate to the second node, and the second spool 210 of the cabling winch body 206 rotates to release the cable 208 during navigation. The speed of releasing the optical cable 208 is consistent with the forward navigation speed of the unmanned submersible body 1, so that the optical cable 208 is prevented from being torn or deposited on the seabed due to mismatching of the speeds.
As shown in fig. 8, after the optical cables 208 are completely released, the unmanned submersible vehicle body 1 is in a hovering state, and then autonomously executes instructions. The motor on the controlled winding and unwinding winch body 201 drives the first winding drum 203 to rotate, and the whole cable laying winch body 206 is released from the unmanned submersible vehicle body 1 until the cable laying winch body 206 sits on the seabed. The unmanned submersible vehicle body 1 autonomously executes an instruction to control the shearing cylinder 2021 to drive the blade 2022 to cut off the steel wire rope 204, and the cable laying winch body 206 is laid on the sea floor for a long time. If the seabed is found to be uneven and is not suitable for releasing the cable laying winch body 206, the retractable winch body 201 can be controlled to recycle the cable laying winch body 206 into the unmanned submersible vehicle body 1, and then the next laying point is found to release the cable laying winch body 206.
As shown in fig. 9, the unmanned submersible vehicle body 1 takes out the first wet plug 207 located on the side surface of the second reel 210 by the flexible manipulator 3, and inserts and pulls out the first wet plug to the second node, thereby completing cabling.
After the cable is laid, the unmanned submersible vehicle body 1 starts to cruise, and the quality of the laid optical cable is observed. If the optical cable laying position is found to deviate or accumulate, the optical cable laying position can be corrected by the flexible manipulator 3 on the unmanned submersible vehicle body 1.
The above description is intended to illustrate the invention and not to limit it, the scope of which is defined by the claims, and any modifications can be made within the scope of the invention.
Claims (9)
1. Submarine optical cable laying device based on unmanned submersible vehicle, its characterized in that: the unmanned submersible vehicle comprises an unmanned submersible vehicle body (1), wherein a flexible manipulator (3) is mounted on the bow of the unmanned submersible vehicle body (1), and a cable laying device (2) is fixed in the tail area of the unmanned submersible vehicle body (1);
The cable laying device (2) has the structure that: the cable laying winch comprises a winding and unwinding winch body (201) and a cable laying winch body (206) which are distributed up and down, wherein a shearing mechanism (202) and a cable laying mechanism (205) are arranged on a frame of the winding and unwinding winch body (201), a steel wire rope (204) is wound on a first winding drum (203) of the winding and unwinding winch body (201), the steel wire rope (204) passes through the cable laying mechanism (205) and the shearing mechanism (202), and the tail end of the steel wire rope is connected to the cable laying winch body (206); the cable laying winch comprises a cable laying winch body (206), wherein a connector for installing a steel wire rope (204) is arranged at the top of the cable laying winch body (206), a second reel (210) is arranged in the cable laying winch body (206), an optical cable (208) is wound on the second reel (210), a first wet plug (207) connected with the optical cable (208) is arranged on the side face of the second reel (210), the first wet plug (207) is pulled out by a flexible manipulator (3), a second cable arranging mechanism (211) is arranged on one side of the second reel (210), and the optical cable (208) penetrates through the second cable arranging mechanism (211) and then is connected with a second wet plug (209).
2. The unmanned submersible based submarine cable laying device according to claim 1, wherein: the cable laying winch body (206) is suspended inside the unmanned submersible vehicle body (1) through a steel wire rope (204).
3. The unmanned submersible based submarine cable laying device according to claim 1, wherein: the structure of the shearing mechanism (202) is as follows: comprises a support frame (2025) with a Z-shaped structure, a shearing oil cylinder (2021) is fixed on the support frame (2025), a blade (2022) is fixed on an extending rod of the shearing oil cylinder (2021), a through hole (2023) penetrating through a steel wire rope (204) is further formed in the support frame (2025), and a support plate (2024) is further arranged at the end part of the support frame (2025).
4. A submarine cable laying device based on unmanned submarines according to claim 3, in which: the support plate (2024) is located beside the through hole (2023).
5. A submarine cable laying device based on unmanned submarines according to claim 3, in which: the support plate (2024) is perpendicular to the support frame (2025), and a reinforcing rib plate is further arranged on the outer side of the support plate (2024).
6. A submarine cable laying device based on unmanned submarines according to claim 3, in which: the diameter of the through hole (2023) is larger than the diameter of the wire rope (204).
7. A submarine cable laying device based on unmanned submarines according to claim 3, in which: the blade (2022) is in a right angle configuration.
8. The unmanned submersible based submarine cable laying device according to claim 1, wherein: the second wet plug (209) is in a free state.
9. A cabling method of an unmanned submersible based submarine cable laying device according to claim 1, wherein: the method comprises the following operation steps:
step one: the unmanned submersible vehicle body (1) is positioned to the first node through a vision system;
Step two: the unmanned submersible vehicle body (1) autonomously executes an instruction, a motor on the cable laying winch body (206) is controlled to drive the second winding drum (210) to rotate, and under the gravity traction of the second wet plug (209) and the rotation of the second winding drum (210), the second wet plug (209) and the optical cable (208) which are in a free state are released from the unmanned submersible vehicle body (1) until the second wet plug (209) contacts the sea floor;
step three: the unmanned submersible vehicle body (1) searches for and positions a second wet plug (209) along the optical cable (208), and the second wet plug (209) is grabbed by the flexible manipulator (3) and is plugged onto the first node;
Step four: the unmanned submersible vehicle body (1) continuously sails towards the second node, a second winding drum (210) of the cable laying winch body (206) rotates to continuously release the optical cable (208) in the sailing process, the speed of releasing the optical cable (208) is consistent with the forward sailing speed of the unmanned submersible vehicle body (1), and the situation that the optical cable (208) is torn or laid and piled on the seabed due to mismatching of the speeds of the two is avoided;
Step five: after the optical cable (208) is completely released, the unmanned submersible vehicle body (1) is in a hovering state, then an instruction is automatically executed, a motor on the winding and unwinding winch body (201) is controlled to drive a first winding drum (203) to rotate, the whole cable laying winch body (206) is released out of the unmanned submersible vehicle body (1) until the cable laying winch body (206) sits on the sea floor, the unmanned vehicle body (1) automatically executes the instruction, the shearing mechanism (202) is controlled to cut off the steel wire rope (204), the cable laying winch body (206) is laid on the sea floor for a long time, and if the sea floor is not flat and is not suitable for releasing the cable laying winch body (206), the winding and unwinding winch body (201) is controlled to recycle the cable laying winch body (206) into the unmanned vehicle body (1), and then the cable laying winch body (206) is released at the next laying point is found;
Step six: taking out a first wet plug (207) positioned on the side surface of a second winding drum (210) by the unmanned submersible vehicle body (1) through the flexible manipulator (3), and plugging the first wet plug into a second node to finish cable laying;
Step seven: after the cable laying is finished, the unmanned submersible vehicle body (1) starts to cruise, the quality of the optical cable laying is observed, and if the optical cable laying position is found to deviate or pile up, the optical cable laying position is corrected through the flexible manipulator (3) on the unmanned submersible vehicle body (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410219394.3A CN117950135A (en) | 2024-02-28 | 2024-02-28 | Submarine optical cable laying device and submarine optical cable laying method based on unmanned submersible vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410219394.3A CN117950135A (en) | 2024-02-28 | 2024-02-28 | Submarine optical cable laying device and submarine optical cable laying method based on unmanned submersible vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117950135A true CN117950135A (en) | 2024-04-30 |
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ID=90800103
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202410219394.3A Pending CN117950135A (en) | 2024-02-28 | 2024-02-28 | Submarine optical cable laying device and submarine optical cable laying method based on unmanned submersible vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117950135A (en) |
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2024
- 2024-02-28 CN CN202410219394.3A patent/CN117950135A/en active Pending
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