An unmanned autonomous deployment system for hydrophone array cables based on multi-submersible collaborative programmable

Abstract

The present invention belongs to the technical field of underwater cable laying, and specifically relates to an unmanned autonomous deployment system for hydrophone array cables based on multi-submersible collaborative programmable systems. After an operating vessel carrying a hydrophone array cable reel arrives at an operating area, multiple groups of unmanned submersibles are released, and the front end of the hydrophone array cable passes through the lower sleeve of a three-way connector carried by each unmanned submersible in sequence. The operating vessel assigns tasks to each unmanned submersible. During the movement of the unmanned submersible, a tension sensor monitors the tension between the electromagnet device and the motor slider, thereby calculating the tension on the hydrophone array cable. The tension is adjusted by the movement of the motor slider on the guide rail to ensure that the tension fluctuation of the hydrophone array cable during underwater deployment is controlled within ±2%, achieving constant tension control. When all unmanned submersibles arrive at the designated location, the electromagnet devices they carry are simultaneously controlled to be disabled, and the three-way connector carrying the hydrophone array cable sinks to the predetermined position, completing the deployment task.

Description

Technical Field

[0001] The present invention belongs to the technical field of underwater cable laying, and in particular relates to an unmanned autonomous laying system for a programmable hydrophone array cable based on multi-submersible collaboration. Background Art

[0002] With the continuous development of underwater communication technology, hydrophone array cables, as an important carrier for underwater information transmission, are becoming increasingly important for the construction of underwater communication networks. Traditional optical cable deployment methods often rely on manual operation or equipment mounted on large vessels, which is not only inefficient and costly, but also faces numerous challenges brought by the complex marine environment. During underwater optical cable deployment, factors such as water flow, buoyancy, and attitude influence the speed, tension, and stability of the cable, making it difficult to precisely control the deployment speed, tension, and attitude stability. This can result in damage to the cable during deployment, or in unstable attitude after deployment, affecting communication quality. Therefore, achieving efficient, stable, and reliable constant-tension deployment of optical cables has become a pressing issue in the field of underwater communication technology.

[0003] In recent years, with the rapid development of underwater unmanned vehicle (AUV) technology, their application in underwater optical cable deployment has gradually gained attention. AUVs offer advantages such as autonomous navigation, strong flexibility, and adaptability to complex marine environments, significantly reducing the difficulty and cost of optical cable deployment. However, the application of AUVs in optical cable deployment still requires resolving a number of technical challenges, such as maintaining constant tension during cable deployment and coupling buoyancy and attitude control. Summary of the Invention

[0004] The object of the present invention is to provide an unmanned autonomous deployment system for hydrophone array cables based on multi-submersible collaborative programmable technology.

[0005] A multi-submersible collaborative programmable unmanned autonomous hydrophone array cable deployment system comprises a surface portion and an underwater portion; the surface portion comprises an operating vessel equipped with a hydrophone array cable reel; the underwater portion comprises an unmanned submersible equipped with a deployment mechanism; the deployment mechanism comprises a tension sensor, an electromagnet device, a guide rail, and a three-way connector; the guide rail is mounted on the bottom of the unmanned submersible and is provided with a motor slider; the electromagnet device is connected to the motor slider, and the tension sensor is used to detect the tension between the electromagnet device and the motor slider; a magnet is mounted on the upper portion of the three-way connector, and the three-way connector is mounted below the electromagnet device via the magnet;

[0006] After the operation vessel arrives at the operation area with the hydrophone array cable reel, it releases multiple groups of unmanned submersibles, and the front end of the hydrophone array cable passes through the lower sleeve of the three-way connector carried by each unmanned submersible in turn; the operation vessel assigns tasks to each unmanned submersible. During the movement of the unmanned submersible, the tension between the electromagnet device and the motor slider is monitored by the tension sensor, so as to calculate the tension of the hydrophone array cable, and adjust it through the movement of the motor slider on the guide rail to ensure that the tension fluctuation of the hydrophone array cable is controlled within ±2% during the underwater deployment process, thereby realizing constant tension control; when all the unmanned submersibles arrive at the designated position, the electromagnet devices they carry are controlled to fail at the same time, and the three-way connector carrying the hydrophone array cable sinks to the predetermined position to complete the deployment task.

[0007] Furthermore, during the movement of the unmanned submersible, the tension of the hydrophone array cable is adjusted by the movement of the motor slider on the guide rail, specifically:

[0008] Using PID control, the real-time position x(t) of the motor slider on the guide rail is correlated with the real-time measurement value F(t) of the tension sensor:

[0009] F(t)=k1x(t)+k2

[0010] Among them, k1 and k2 are constants, representing the scale factor and offset respectively;

[0011] According to the preset tension expected value F d Calculate the tension error e(t):

[0012] e(t)=F d -F(t)

[0013] The PID controller calculates the control signal u(t) based on the tension error e(t):

[0014]

[0015] Among them, K p is the proportional gain coefficient, which reflects the impact of the current error on the control signal; K i K is the integral gain coefficient, which reflects the influence of error accumulation on the control signal; d is the differential gain coefficient, which reflects the influence of the error change rate on the control signal;

[0016] The control signal u(t) is fed back to the motor slider to make the motor slider move on the guide rail to adjust the tension of the hydrophone array cable.

[0017] Furthermore, a sawtooth friction structure is provided on the inner wall of the lower sleeve structure of the three-way connector to increase the friction between the three-way connector and the hydrophone array cable, thereby ensuring the connection performance between the hydrophone array cable and the three-way connector.

[0018] Furthermore, the unmanned submersible includes a communication and control mechanism, a buoyancy mechanism, a shell mechanism and a driving mechanism; the communication and control mechanism is used to receive and send signals, and at the same time control the unmanned submersible itself and the onboard deployment mechanism; the buoyancy mechanism is used to control the unmanned submersible to float up, dive down, and maintain depth; the shell mechanism is used to ensure the watertightness of the interior of the unmanned submersible; the driving mechanism is used for the unmanned submersible to achieve six-degree-of-freedom movement underwater.

[0019] Furthermore, the shell mechanism includes a head shell, a middle control section shell and a tail shell connected in sequence, a waterproof rubber ring is provided at the connection between each section shell, a handle is installed on the upper part of the middle control section shell, and the deployment mechanism is installed at the lower part of the middle control section shell.

[0020] Furthermore, the drive mechanism includes a left-wing propeller and a right-wing propeller installed on the left and right sides of the middle part of the control section shell, an overhead propeller installed on the top surface of the middle part of the control section shell, a tail propeller installed at the tail end of the tail shell, and a rudder installed around the tail propeller.

[0021] Furthermore, the buoyancy mechanism includes a water pump and a water tank; the water tank is arranged on the lower side of the inner part of the middle control section shell and is fixed by upper and lower support frames; the water pump is installed between the middle control section shell and the tail shell, and the two ends of the water pump are respectively connected to the water tank interface and the connecting shell interface, and the waterproofness is ensured at the interface by rubber rings and sealants; before the unmanned submersible dives, the water tank is empty; when the water pump is used to fill the water tank so that the unmanned submersible's own weight is greater than the buoyancy it receives, the unmanned submersible dives; when the water pump is used to pump water from the water tank so that the unmanned submersible's own weight is less than the buoyancy it receives, the unmanned submersible floats; when the unmanned submersible needs to maintain a fixed depth, the overhead propeller cooperates with the water pump so that the buoyancy it receives is equal to its own weight plus the thrust of the overhead propeller.

[0022] Furthermore, the communication and control mechanism includes an antenna and a control chip; the antenna is installed above the tail of the middle control section shell; the control chip is installed on the upper side of the inside of the middle control section shell through a support frame, located above the water tank; the control chip integrates a power supply control module, a drive control module, a communication control module, a deployment mechanism control module, a GPS positioning module and a depth sensor module.

[0023] The beneficial effects of the present invention are:

[0024] This invention utilizes a constant tension control structure to ensure cable stability during deployment and maintain cable functionality. The invention also utilizes a swarm deployment of unmanned underwater vehicles (UUVs), which no longer rely on the movement of the deployment vessel, significantly improving deployment speed compared to traditional deployment methods. The swarm deployment of UUVs also allows for greater deployment distances while maintaining the safety of the deployment vessel. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 The figure is an overall schematic diagram of an unmanned autonomous deployment system for hydrophone array cables based on multi-submersible collaborative programmable technology.

[0026] Figure 2 It is a structural schematic diagram of the unmanned submersible in the present invention.

[0027] Figure 3 It is a structural schematic diagram of the deployment mechanism in the present invention. DETAILED DESCRIPTION

[0028] The present invention will be further described below with reference to the accompanying drawings.

[0029] like Figure 1 As shown, the present invention provides an unmanned autonomous hydrophone array cable deployment system based on multi-submersible collaborative programmable technology, comprising a surface portion and an underwater portion. The surface portion includes an operation vessel 1, which is equipped with a control module 2, a hydrophone array cable reel 3, an unmanned submersible, and its release device 4. The underwater portion includes an unmanned submersible equipped with a deployment mechanism.

[0030] like Figure 2 As shown, the unmanned submersible includes a communication and control mechanism, a buoyancy mechanism, a shell mechanism and a driving mechanism; the communication and control mechanism is used to receive and send signals, and at the same time control the unmanned submersible itself and the onboard deployment mechanism; the buoyancy mechanism is used to control the unmanned submersible to float up, dive down, and maintain depth; the shell mechanism is used to ensure the watertightness inside the unmanned submersible; the driving mechanism is used for the unmanned submersible to achieve six-degree-of-freedom movement underwater.

[0031] The outer shell structure comprises a head shell 5, a central control section shell 8, and a tail shell 16, connected in sequence. Waterproof rubber rings are installed at the joints between the shell sections. A handle 7 is mounted on the top of the central control section shell 8, and the deployment mechanism is installed on the bottom of the central control section shell 8. The drive mechanism includes a left propeller 9 and a right propeller 19 mounted on the left and right sides of the central portion of the control section shell 8, an overhead propeller 10 mounted on the top surface of the central portion of the control section shell 8, a tail propeller 13 mounted at the rear end of the tail shell 16, and a rudder 14 installed around the tail propeller 13.

[0032] The buoyancy mechanism includes a water pump 17 and a water tank 20; the water tank 20 is arranged on the lower side of the middle control section shell 8 and is fixed by upper and lower support frames; the water pump 17 is installed between the middle control section shell 8 and the tail shell 16, and the two ends of the water pump 17 are respectively connected to the water tank 20 interface and the connecting shell interface, and the waterproofness is ensured at the interface by rubber rings and sealants; before the unmanned submersible dives, the water tank 20 is empty; when water is injected into the water tank 20 by the water pump 17 so that the weight of the unmanned submersible itself is greater than the buoyancy it receives, the unmanned submersible dives; when water is pumped out from the water tank 20 by the water pump 17 so that the weight of the unmanned submersible itself is less than the buoyancy it receives, the unmanned submersible floats; when the unmanned submersible needs to maintain a fixed depth, the overhead propeller 10 cooperates with the water pump 17 to make the buoyancy of the unmanned submersible equal to its own gravity plus the thrust of the overhead propeller 10.

[0033] The communication and control mechanism includes an antenna 12 and a control chip 18; the antenna 12 is installed above the tail of the middle control section shell 8; the control chip 18 is installed on the upper side of the inside of the middle control section shell 8 through a support frame, located above the water tank 20; the control chip 18 integrates the power supply control module 6, the drive control module, the communication control module, the deployment mechanism control module, the GPS positioning module and the depth sensor module.

[0034] like Figure 3 As shown, the deployment mechanism includes a tension sensor 22, an electromagnet device 23, a guide rail 24 and a three-way connector 26; the guide rail 24 is installed at the bottom of the unmanned submersible, and a motor slider 21 is provided on the guide rail 24; the electromagnet device 23 is connected to the motor slider 21, and the tension sensor 22 is used to detect the tension between the electromagnet device 23 and the motor slider 21; a magnet 25 is installed on the upper part of the three-way connector 26, and the three-way connector 26 is installed below the electromagnet device 23 through the magnet 25; a serrated friction structure is provided on the inner wall of the sleeve structure at the lower part of the three-way connector 26, which is used to increase the friction between the three-way connector 26 and the hydrophone array cable, thereby ensuring the connection performance between the hydrophone array cable and the three-way connector 26.

[0035] After transporting the hydrophone array cable to a safe area close to the deployment area, the workboat 1 verifies the UUV's signal and operating status through the control module 2. Once confirmed, the electromagnet device 23 in the deployment mechanism is powered on, connecting it to the three-way connector 26. The release mechanism 4 is connected to the UUV's two handles 7, and the UUV is lowered into the water using the release mechanism 4. The front end of the hydrophone array cable is threaded through the lower sleeve of the three-way connector 26 on each UUV, and the UUV is controlled to perform a preliminary deployment of the hydrophone array cable. The workboat assigns tasks to each UUV, which uses a GPS module for navigation and positioning during movement. The workboat also coordinates the UUVs to change the shape of the hydrophone array cable. During the movement of the UUVs, tension sensor 22 monitors the tension between the electromagnet assembly 23 and the motor slider 21, thereby calculating the tension in the hydrophone array cable. This tension is then adjusted by the movement of the motor slider 21 on the guide rail 24, ensuring that tension fluctuations in the hydrophone array cable remain within ±2% during underwater deployment, achieving constant tension control. When all UUVs reach their designated location, their respective electromagnets 23 are simultaneously deactivated, and the three-way connector 26, carrying the hydrophone array cable, descends to the designated location, completing the deployment. Finally, all UUVs are resurfaced and recovered to the work vessel 1 via the buoyancy system.

[0036] The present invention adopts PID control, and the real-time position x(t) of the motor slider 21 on the guide rail 24 is correlated with the real-time measurement value F(t) of the tension sensor 22:

[0037] F(t)=k1x(t)+k2

[0038] Among them, k1 and k2 are constants, representing the scale factor and offset respectively;

[0039] According to the preset tension expected value F d Calculate the tension error e(t):

[0040] e(t)=F d -F(t)

[0041] The PID controller calculates the control signal u(t) based on the tension error e(t):

[0042]

[0043] Among them, K p is the proportional gain coefficient, which reflects the impact of the current error on the control signal; K i K is the integral gain coefficient, which reflects the influence of error accumulation on the control signal; d is the differential gain coefficient, which reflects the influence of the error change rate on the control signal;

[0044] The control signal u(t) is fed back to the motor slider 21 to move the motor slider 21 on the guide rail 24, thereby adjusting the tension of the hydrophone array cable.

[0045] The foregoing description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Those skilled in the art will readily appreciate that various modifications and variations of the present invention are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention are intended to be within the scope of protection of the present invention.

Claims

1. An unmanned, autonomous deployment system for hydrophone array cables based on multi-submersible collaborative programmable technology, characterized by: The invention comprises a surface part and an underwater part; the surface part comprises an operating vessel (1) equipped with a hydrophone array cable drum (3); the underwater part comprises an unmanned submersible equipped with a deployment mechanism; the deployment mechanism comprises a tension sensor (22), an electromagnet device (23), a guide rail (24) and a three-way connector (26); the guide rail (24) is installed at the bottom of the unmanned submersible, and a motor slider (21) is provided on the guide rail (24); the electromagnet device (23) is connected to the motor slider (21), and the tension sensor (22) is used to detect the tension between the electromagnet device (23) and the motor slider (21); a magnet (25) is installed on the upper part of the three-way connector (26), and the three-way connector (26) is installed below the electromagnet device (23) through the magnet (25); After the operation vessel (1) arrives at the operation area with the hydrophone array cable reel (3), multiple groups of unmanned submersibles are released, and the front ends of the hydrophone array cables pass through the lower sleeves of the three-way connectors (26) carried by each unmanned submersible in turn; the operation vessel (1) assigns tasks to each unmanned submersible, and during the movement of the unmanned submersible, the tension between the electromagnet device (23) and the motor slider (21) is monitored by the tension sensor (22), thereby calculating the tension of the hydrophone array cable, and adjusting it by the movement of the motor slider (21) on the guide rail (24), so as to ensure that the tension fluctuation of the hydrophone array cable is controlled within ±2% during the underwater deployment process, thereby realizing constant tension control; when all the unmanned submersibles arrive at the designated position, the electromagnet devices (23) carried by each of them are simultaneously controlled to fail, and the three-way connector (26) carrying the hydrophone array cable sinks to the predetermined position, completing the deployment task.

2. The unmanned autonomous deployment system for hydrophone array cables based on multi-submersible collaborative programmable technology according to claim 1, characterized in that: During the movement of the unmanned submersible, the tension of the hydrophone array cable is adjusted by the movement of the motor slider (21) on the guide rail (24), specifically: Using PID control, the real-time position x(t) of the motor slider (21) on the guide rail (24) is correlated with the real-time measurement value F(t) of the tension sensor (22): F(t)=k1x(t)+k2 Among them, k1 and k2 are constants, representing the scale factor and offset respectively; According to the preset tension expected value F d Calculate the tension error e(t): e(t)=F d -F(t) The PID controller calculates the control signal u(t) based on the tension error e(t): Among them, K p is the proportional gain coefficient, which reflects the impact of the current error on the control signal; K i K is the integral gain coefficient, which reflects the influence of error accumulation on the control signal; d is the differential gain coefficient, which reflects the influence of the error change rate on the control signal; The control signal u(t) is fed back to the motor slider (21), so that the motor slider (21) moves on the guide rail (24), thereby completing the adjustment of the tension of the hydrophone array cable.

3. The unmanned autonomous deployment system for hydrophone array cables based on multi-submersible collaborative programmable technology according to claim 1, characterized in that: The inner wall of the lower sleeve structure of the three-way connector (26) is provided with a sawtooth friction structure for increasing the friction between the three-way connector (26) and the hydrophone array cable, thereby ensuring the connection performance between the hydrophone array cable and the three-way connector (26).

4. The unmanned autonomous deployment system for hydrophone array cables based on multi-submersible collaborative programmable technology according to claim 1, characterized in that: The unmanned submersible includes a communication and control mechanism, a buoyancy mechanism, a shell mechanism and a driving mechanism; the communication and control mechanism is used to receive and send signals, and at the same time control the unmanned submersible itself and the onboard deployment mechanism; the buoyancy mechanism is used to control the unmanned submersible to ascend, descend, and maintain depth; the shell mechanism is used to ensure the watertightness of the interior of the unmanned submersible; the driving mechanism is used for the unmanned submersible to achieve six-degree-of-freedom movement underwater.

5. The unmanned autonomous deployment system for hydrophone array cables based on multi-submersible collaborative programmable technology according to claim 4, characterized in that: The shell mechanism comprises a head shell (5), a middle control section shell (8) and a tail shell (16) which are connected in sequence. A waterproof rubber ring is provided at the connection between each section shell. A handle (7) is installed on the upper part of the middle control section shell (8), and a deployment mechanism is installed on the lower part of the middle control section shell (8).

6. The unmanned autonomous deployment system for hydrophone array cables based on multi-submersible collaborative programmable technology according to claim 5, characterized in that: The driving mechanism comprises a left propeller (9) and a right propeller (19) installed on the left and right sides of the middle of the control section housing (8), an overhead propeller (10) installed on the top surface of the middle of the control section housing (8), a tail propeller (13) installed at the tail end of the tail housing (16), and a rudder plate (14) installed in the circumference of the tail propeller (13).

7. The unmanned autonomous deployment system for hydrophone array cables based on multi-submersible collaborative programmable technology according to claim 6, characterized in that: The buoyancy mechanism comprises a water pump (17) and a water tank (20); the water tank (20) is arranged on the lower side of the middle control section housing (8) and is fixed by upper and lower support frames; the water pump (17) is installed between the middle control section housing (8) and the tail housing (16), and the two ends of the water pump (17) are respectively connected to the water tank (20) interface and the connection shell interface, and the waterproofness is ensured by rubber rings and sealant at the interface; before the unmanned submersible dives, the water tank (20) is connected to the water tank (20) interface and the connection shell interface. 20) is empty; when the weight of the unmanned submersible is greater than the buoyancy it receives by injecting water into the water tank (20) through the water pump (17), the unmanned submersible dives; when the weight of the unmanned submersible is less than the buoyancy it receives by pumping water from the water tank (20) through the water pump (17), the unmanned submersible floats up; when the unmanned submersible needs to be at a fixed depth, the overhead propeller (10) cooperates with the water pump (17) to make the buoyancy it receives equal to its own weight plus the thrust of the overhead propeller (10).

8. The unmanned autonomous deployment system for hydrophone array cables based on multi-submersible collaborative programmable technology according to claim 7, characterized in that: The communication and control mechanism comprises an antenna (12) and a control chip (18); the antenna (12) is mounted above the tail of the middle control section housing (8); the control chip (18) is mounted on the upper side of the middle control section housing (8) via a support frame, and is located above the water tank (20); the control chip (18) integrates a power supply control module (6), a drive control module, a communication control module, a deployment mechanism control module, a GPS positioning module, and a depth sensor module.

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