A buoyancy control and data interaction cable system

Abstract

The present invention discloses a buoyancy regulation and data interaction cable system, which includes a towing cable, a sliding track, a buoy, an umbilical cable and a ground control center; one end of the towing cable passes through the sliding guide rail and is fixed to the seabed, the sliding track is connected to the buoy through the umbilical cable, and the ground control center is used to adjust the position of the umbilical cable according to the monitored sea area conditions; the buoy includes a transmission module, a water propulsion device, a buoy, a control and analysis unit, a sea surface condition monitoring module, a solar panel and a storage battery; the transmission module sends data to the buoy, and then the buoy sends it to the ground control center; the control and analysis unit is used to analyze the received data and feedback it to the power device in the umbilical cable. The present invention can effectively control the stable state of the floating structure, enhance the anti-wave and anti-wind ability, reduce fatigue damage, improve the data transmission efficiency, the data transmission is true and effective, and the optimized algorithm design can issue instructions at the fastest speed to control the movement of the towing system and realize the intelligent control of the position of the towing cable.

Description

Technical Field

[0001] The present invention belongs to the field of marine flexible pipe and cable protection, and specifically relates to a buoyancy regulation and data interaction pipe and cable system. Background Technique

[0002] Energy is an important material basis for the national economy and social development. With the continuous development of the global economy, the total consumption of the petroleum industry has been increasing, and higher demands have been put forward for the exploitation of petroleum resources. Currently, relatively few marine oil and gas resources have been exploited, and a large amount of marine oil and natural gas resources have not been developed and utilized. Therefore, the method of using umbilical cables for exploitation has become increasingly important, and the maintenance of pipe and cables has also become increasingly important.

[0003] During the in-situ operation of flexible pipelines, they will be jointly affected by environmental loads such as wind, waves, and currents, as well as the movement of the top floating body. The loads generated by these effects can cause damage to the flexible pipelines. Therefore, changing the position of the flexible pipelines and the installation method of umbilical cables can effectively solve the above problems. Secondly, while optimizing the fatigue stress of the pipe and cables, modifying the power equipment, reducing the number of calculation conditions, and improving the calculation and analysis efficiency are urgent problems for those skilled in the art in this field.

[0004] Currently, in most cases, the method of directly connecting the water pusher to the floating structure is still adopted. For example, the Chinese patent with the application number 202011319648.7 discloses a floating structure interface device, a floating structure ship, and a connection method between the floating structure ship and the pusher. The Chinese patent with the application number 202110520889.6 discloses a transmission system suitable for single-point mooring rotation power transmission of a floating structure ship. Both have disadvantages such as fast structural loss and fast power consumption of the power device, and the position of the cable cannot be intelligently controlled. Summary of the Invention

[0005] Object of the Invention: In order to overcome the deficiencies existing in the prior art, the object of the present invention is to provide a buoyancy regulation and data interaction pipe and cable system with high data transmission efficiency and strong anti-wind and wave ability.

[0006] Technical Solution: A buoyancy regulation and data interaction pipe and cable system according to the present invention includes a towing cable, a sliding track, a buoy, an umbilical cable, and a ground control center; one end of the towing cable passes through the sliding guide rail and is fixed to the seabed, the sliding track is connected to the buoy through the umbilical cable, and the ground control center is used to adjust the position of the umbilical cable according to the monitored sea area conditions;

[0007] The buoy includes a transmission module, a water propulsion device, a buoy, a control and analysis unit, a sea condition monitoring module, a solar panel, and a storage battery; the transmission module sends data to the buoy, and then the buoy sends it to the ground control center; the control and analysis unit is used to analyze the received data and send feedback to the power device in the umbilical cable; the solar panel converts solar energy into electrical energy and stores it in the storage battery, which is used to supply power to the transmission module, the water propulsion device, the buoy, the control and analysis unit, and the sea condition monitoring module;

[0008] Inside the umbilical cable, there are stainless steel pipes, dual fiber optic cables, cables, power devices, power conversion modules, underwater fiber optic communication modules, and sensing systems; the dual fiber optic cables are connected to the underwater fiber optic communication modules, the power conversion module converts the electrical energy transmitted by the cable into the electrical energy required by each device, both the power conversion module and the underwater fiber optic communication module are connected to the sensing system, and the sensing system is arranged at different height positions inside the umbilical cable.

[0009] Furthermore, the sensing system includes a perception system, a transmission system, and an acquisition and control system. The perception system includes a CTD (Conductivity, Temperature, Depth) instrument, a water flow velocity sensor, a tension sensor, and a camera. The acquisition and control module includes an information acquisition and information processing module, which is responsible for preprocessing the collected data. The transmission module is used to transmit the preprocessed data to the control and analysis unit inside the buoy.

[0010] Furthermore, the steps of information collection by the ground control center include:

[0011] (a) The perception system collects the data of the sensing system at different positions, and the acquisition and control module preprocesses the data;

[0012] (b) The preprocessed data is transmitted to the inside of the buoy through the underwater fiber optic communication module and the dual fiber optic cable;

[0013] (c) The control and analysis unit inside the buoy analyzes the received data and the data received by the sea condition monitoring module, and forwards the analysis results to the buoy and the ground control center through the WIFI signal. The buoy forwards the collected information to the ground control center through the GPS Beidou satellite.

[0014] Furthermore, the method for determining the optimal installation position of the sensing system includes the following steps:

[0015] (a) Preliminary selection of measurement point positions. Denote the preliminarily selected points as the degrees of freedom of the preliminarily selected measurement points, and the unselected points as the unselected degrees of freedom;

[0016] (b) Construct a MAC matrix. Denote the modal vector matrix of the degrees of freedom of the preliminarily selected measurement points as u(n×m);

[0017] (c) Locate the maximum non - diagonal element of the MAC matrix;

[0018] (d) Screen the unselected degrees of freedom, and sequentially add the degrees of freedom of the unselected measurement points to those of the selected measurement points, and recalculate the value of the maximum non-diagonal element;

[0019] (e) Calculate the Fisher matrix from the degrees of freedom of the preliminarily selected measurement points;

[0020] (f) Comprehensively evaluate the candidate measurement points, and superimpose the ability of the maximum non-diagonal element and the ability to increase the Fisher trace;

[0021] (g) Re-evaluate the initially selected measurement point group, conduct inspections, and repeat the operations in steps (b) to (f).

[0022] Furthermore, the control analysis unit inside the buoy forwards and analyzes the data, sends the first-level instructions to the power device through a double optical fiber cable to control the movement of the sensing system; the ground control center conducts overall analysis and processing of the data, and sends the instructions to the buoy through GPS and Beidou satellites and to the water thruster inside the buoy through WIFI signals.

[0023] Furthermore, the steps for the ground control center to adjust the position of the umbilical cable include:

[0024] A. The system starts to run, the control system starts to capture information on the water flow velocity, pressure, and tension in different deep seas during continuous working cycles, and the buoy starts to monitor the positioning information;

[0025] B. After preprocessing the received data, the sensing system transmits it to the control analysis unit inside the buoy through optical fibers, and the sea surface condition monitoring module transmits the captured data to the control analysis unit;

[0026] C. The control analysis unit issues instructions to the power device to optimize the position of the sensing system;

[0027] D. The ground control center determines whether the umbilical cable exceeds the maximum pressure it can withstand;

[0028] D1. When the umbilical cable has exceeded the maximum pressure it can withstand, the ground control center selects the best moving direction and distance according to the preset training model;

[0029] D11. The ground control center determines whether the umbilical cable is within the pressure range it can withstand;

[0030] D111. When it is outside the pressure range it can withstand, the ground control center determines whether it exceeds the set control threshold;

[0031] D1111. When it does not exceed the set control threshold, repeat step D;

[0032] D1112. When the set control threshold is exceeded, the ground control center transmits a signal to the buoy;

[0033] D1113. The buoy transmits data to the ground control center;

[0034] D1114. The ground control center, according to the preset training model, drives the water thruster to move and feeds back control instructions to the buoy;

[0035] D1115. The buoy transmits the instructions to the water thruster;

[0036] D12. When within the acceptable pressure range, the entire process ends;

[0037] D2. When the umbilical cable does not exceed the maximum bearable pressure, the ground control center memorizes the optimal position under this pressure state.

[0038] The particle swarm algorithm is adopted, and first, according to the underwater conditions and the model, the optimal position of the water thruster is preset. The preset training model is:

[0039] Step 1, the sensing system measures the data of different sea depths and the sea level data. Taking the position of the water thruster as the optimization design variable and the minimum system energy consumption as the objective function, the expression is:

[0040]

[0041] In the formula, f' is the system energy consumption; α is the unit conversion coefficient; m is the different sea depths and sea conditions; μ i is the position of the slide rail; P i is the data collected at the i-th moment; P i0 is the data collected at the moment before the i-th moment; η pi is the efficiency of the power device at the i-th moment; η ei is the efficiency of the power device at the moment before the i-th moment;

[0042] Step 2, select the position of the water thruster as the optimization design variable, that is, the position X of the particle. The position of each particle in the population is the actual running speed. Through the iterative optimization of the particles, the optimal solution is obtained;

[0043] Step 3, after the particle initialization is completed, design an initial position of the water thruster, determine whether the particle position, that is, the position of the sliding track, satisfies the constraint condition for keeping the dynamic cable in balance, judge whether the sum of the displacements represented by each particle position is equal to the sum of the buoyancy forces received by the umbilical cable, find the maximum and minimum values under the constraint conditions of the power device, and judge whether the total momentum of the system is within this range;

[0044] Step 4: When two conditions are met simultaneously or the maximum number of iterations is reached, stop the calculation and output the optimal solution. The two conditions include that the global optimal value has not changed for k consecutive generations and the penalty term corresponding to the global optimal solution is less than the given accuracy requirement. Otherwise, return to Step 3, increment the loop count by 1, and continue the iteration.

[0045] The annealing algorithm is adopted with the aim of continuously changing the optimal position of the water pusher in the subsequent process. The preset training model includes the following steps:

[0046] Step 1-1: Take the position of the water pusher as the optimization design variable, set the initial temperature Tg of the simulated annealing algorithm to be sufficiently large, the initial solution state X0 of the algorithm iteration, and the number of iterations L at each temperature T.

[0047] Step 1-2: After the particle initialization is completed, determine whether the particle position satisfies the umbilical cable balance, that is, judge whether the buoyancy represented by each particle position is equal to the buoyancy received by the umbilical cable. If the condition is met, go to Step 1-3; if not, go back to Step 1-1 and re-optimize.

[0048] Step 1-3: Perform Steps 1-4 to 1-7 for k = 1, …, L.

[0049] Step 1-4: Generate a new solution X.

[0050] Step 1-5: Calculate the increment ΔE = E(X) - NE(X), where E(X) is the evaluation function and NE(X) is the evaluation index.

[0051] Step 1-6: If ΔE(X) < 0, accept X as the new current solution; if ΔE(X) > 0, accept X' as the new current solution with a probability of exp(-ΔE(X) / T).

[0052] Step 1-7: If the algorithm stop criterion is met, output the current solution as the optimal solution and end the program.

[0053] Step 1-8: Gradually reduce the temperature T. When T → 0, return to Step 1-2.

[0054] Furthermore, a mesh flexible pipe cable protection sleeve is arranged on the surface of the umbilical cable. The umbilical cable is connected to the floating buoy through a rotatable hanging ring.

[0055] Working principle: The power device does not move all the time. It is in the power-saving mode when not moving and consumes more power when moving. The detection device sets the monitoring time interval to monitor the underwater situation every few seconds. Discontinuous detection can save energy and electricity and perform regular maintenance. The traction cable to be controlled controls its position through a sliding track.

[0056] Beneficial effects: Compared with the prior art, the present invention has the following remarkable features: It can effectively control the stable state of the floating structure, enhance the anti-wave and anti-wind ability, reduce fatigue damage, can monitor the sea area conditions in real time, collect sea area data, transmit data through different networking methods, improve the data transmission efficiency, make the data transmission real and effective, and the optimized algorithm design can issue commands at the fastest speed to control the movement of the traction system to achieve intelligent control of the position of the towing cable. BRIEF DESCRIPTION OF THE DRAWINGS

[0057] Figure 1 is a schematic structural diagram of the present invention;

[0058] Figure 2 is a schematic structural diagram of the sliding track 2 of the present invention;

[0059] Figure 3 is a connection schematic diagram of the buoy 3 and the umbilical cable 4 of the present invention;

[0060] Figure 4 is a schematic structural diagram of the buoy 3 of the present invention;

[0061] Figure 5 is a schematic structural diagram of the water thruster 32 of the present invention;

[0062] Figure 6 is a cross-sectional view of the umbilical cable 4 of the present invention;

[0063] Figure 7 is a functional schematic diagram of the umbilical cable 4 of the present invention;

[0064] Figure 8 is a schematic structural diagram of the sensing system 48 of the present invention;

[0065] Figure 9 is an optimal design flow chart of the installation position of the sensing system 48 of the present invention;

[0066] Figure 10 is a control flow chart of the ground control center 5 of the present invention, where a is a flow chart of information collection and b is a flow chart of issuing commands;

[0067] Figure 11 is a flow chart of the ground control center 5 adjusting the position of the umbilical cable 4 of the present invention;

[0068] Figure 12 is a preset training model algorithm flow chart of the control analysis unit 3 of the present invention;

[0069] Figure 13 is an algorithm simulation judgment flow chart of the control analysis unit 5 of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0070] Such as Figure 1, the towing cable 1 of the buoyancy control and data interaction cable system is connected to the bottom end of the floating structure and fixed to the seabed. The counterweight is placed in the vertical direction of the towing cable 1 to reduce the stress fatigue damage of the towing cable 1 and keep the floating structure in a stable state within a certain range. The sliding track 2 is connected to the buoy 3 through the umbilical cable 4. The towing cable 1 and the buoyancy cylinder 3 enhance the anti-wind and wave resistance to keep the floating structure in a stable state. The umbilical cable 4 and the ground control center 5 are used to monitor the sea area conditions in real time, collect sea area data, and issue commands to control the movement of the towing system.

[0071] As Figures 2 - 3 , a hole 22 is drilled through the center of the sliding track 2 to pass through the towing cable 1, and the top is connected to the umbilical cable 4 in a spiral structure manner 21 to ensure the stability of the structure and enhance the anti-torsion force of the umbilical cable. Symmetric holes 22 are drilled on both sides of the sliding track 2 to conform to the sea current direction, so that the sliding track 2 is in a horizontal state and in the same direction as the towing cable 1, protecting the cable in the horizontal direction and reducing fatigue damage. The symmetric water flow holes 23 on the sliding track 2 allow water to flow through the holes, reducing the impact force of the water flow and reducing the loss of the sliding track 2. The umbilical cable 4 is connected to the buoy 3 through a rotatable sling 6. The buoy 3 can change its traveling direction under the action of the water pusher 32 on the water surface. Setting the rotatable sling 6 does not affect the force state of the umbilical cable.

[0072] As Figures 4 - 5 , the buoyancy cylinder 3 mainly consists of a transmission module 31, a water pusher 32, a buoy 33, a control and analysis unit 34, a sea surface condition monitoring module 35, a solar panel 36, and a storage battery 37. The solar panel 36 converts solar energy into electrical energy and stores it in the storage battery 37 for powering the entire buoyancy cylinder 3. The control and analysis unit 34 is used to analyze the received data and feedback the analysis results to the power device 45 to control the movement of the sensing system 48. The sea surface condition monitoring module 35 monitors the wind and wave conditions on the sea surface. The transmission module 31 forwards the sea surface wind and wave data and the data transmitted by the double optical fiber cable 43 to the buoy 33 together, and the buoy 33 sends them to the ground control center 5. The water pusher 32 sequentially includes a battery compartment, a control compartment, a motor compartment, etc. from the rear end to the front end, and a propulsion motor, a horizontal rudder, and a vertical rudder are provided at the tail to change the direction.

[0073] As Figures 6 - 8, a mesh flexible cable protection sleeve 41 is provided on the surface of the umbilical cable 4, and several stainless steel pipes 42 are placed inside to withstand the stress when bending loads act. In addition, the interior of the umbilical cable 4 also includes a cable 44, a power conversion module 46, a power device 45, a dual fiber optic cable 43, and a sensing system 48. The cable 44 transmits electrical energy to the entire system, and the power conversion module 46 converts the electrical energy transmitted by the cable 44 into electrical energy suitable for each device. The dual fiber optic cable 43 is connected to the underwater fiber optic communication module 47 for two-way data transmission to improve the data transmission rate. The sensing system 48 is placed at different height positions inside the umbilical cable 4 and includes a sensing module 481, a transmission module 482, and an acquisition control module 483. The sensing module 481 includes a CTD, a water flow velocity sensor, a tension sensor, and a camera, and is responsible for collecting data such as water flow velocity, temperature, pressure, and images at different depths in the sea. The acquisition control module 483 includes an information acquisition and information processing module, which is responsible for preprocessing the collected data. The transmission module 482 includes an underwater fiber optic communication module, which is responsible for transmitting the preprocessed data to the control and analysis unit 34 inside the buoy 3.

[0074] As Figure 9 , the optimal design process for the installation position of the sensing system 48 inside the umbilical cable 4 includes the following steps:

[0075] (a) Preliminary selection of measurement point positions. Denote the initially selected points as the degrees of freedom of the initially selected measurement points, and the unselected points as the unselected degrees of freedom;

[0076] (b) Construct the MAC matrix. Denote the modal vector matrix of the degrees of freedom of the initially selected measurement points as u(n×m);

[0077] (c) Locate the maximum non-diagonal element of the MAC matrix;

[0078] (d) Screen the unselected degrees of freedom. Sequentially add the degrees of freedom of the unselected measurement points to the degrees of freedom of the selected measurement points, and recalculate the value of the maximum non-diagonal element;

[0079] (e) Calculate the Fisher matrix from the degrees of freedom of the initially selected measurement points;

[0080] (f) Comprehensively evaluate the candidate measurement points, and superimpose the ability of the maximum non-diagonal element and the ability to increase the Fisher trace;

[0081] (g) Re-evaluate the initially selected measurement point group, conduct inspections, and repeat the steps (b) to (f).

[0082] As Figure 10 a, the information collection and processing working process of the ground control center 5:

[0083] (a) The sensing system 481 collects data from the sensing systems 48 at different positions, and the acquisition control module 483 preprocesses the data.

[0084] (b) The double optical fiber cable 43 integrates two single-core optical fibers, and the underwater optical fiber communication module 47 always transmits the processed data to the buoy 3 through one of the fiber cores.

[0085] (c) The control and analysis unit 34 in the buoy 3 analyzes the received data and the data received by the sea surface condition monitoring module 35, and forwards the analysis results to the buoy 33 and the ground control center 5 through WIFI signals. The buoy 33 forwards the collected information to the ground control center 5 through GPS Beidou satellites. The operation instructions in the buoy 3 are transmitted to the underwater optical fiber communication module 47 through the other fiber core in the double optical fiber cable 43.

[0086] As Figure 10 b, the working process of the issued instructions of the ground control center 5:

[0087] (a) The control and analysis unit 34 in the buoy 3 forwards and analyzes the data, and issues the primary instructions to the power device 45 through the double optical fiber cable 43 to control the movement of the sensing system 481.

[0088] (b) The ground control center 5 conducts overall analysis and processing of the data, and transmits the instructions to the buoy 33 through GPS Beidou satellites and to the water propulsion device 32 inside the buoy 3 through WIFI signals.

[0089] As Figure 11 , the ground control center 5 adjusts the position of the umbilical cable 4, including the following steps:

[0090] A. The system starts to run. The sensing system 481 starts to capture information on the water flow velocity, pressure, and tension in different deep seas during continuous working cycles, and the buoy 33 starts to monitor the positioning information.

[0091] B. After preprocessing the received data, the sensing system 481 transmits it to the control and analysis unit 34 in the buoy 3 through the double optical fiber cable 43, and the sea surface condition monitoring module 35 transmits the captured data to the control and analysis unit 34.

[0092] C. The control and analysis unit 34 issues instructions to the power device 45 to optimize the position of the sensing system 48.

[0093] D. The ground control center 5 determines whether the umbilical cable 4 exceeds the maximum pressure it can withstand.

[0094] D1. When the umbilical cable 4 has exceeded the maximum pressure it can withstand, the ground control center 5 selects the best moving direction and distance according to the preset training model.

[0095] D11. The ground control center 5 determines whether the umbilical cable 4 is within the range of the bearing pressure.

[0096] D111. When it exceeds the range of the bearing pressure, the ground control center 5 determines whether it exceeds the set control threshold.

[0097] D1111. When it does not exceed the set control threshold, repeat step D.

[0098] D1112. When it exceeds the set control threshold, the ground control center 5 transmits a signal to the buoy 33.

[0099] D1113. The buoy 33 transmits data to the ground control center 5.

[0100] D1114. The ground control center 5 drives the water thruster 32 to move according to the preset training model, and feeds back a control instruction to the buoy 33.

[0101] D1115. The buoy 33 transmits the instruction to the water thruster 32.

[0102] D12. When it is within the range of the bearable pressure, end the whole process.

[0103] D2. When the umbilical cable 4 does not exceed the maximum bearable pressure, the ground control center 5 memorizes the best position in this pressure state.

[0104] Such as Figure 12 , the preset training model of the ground control center 5 is:

[0105] Step 1. The perception system 481 measures the data of different sea depths and the data of the sea level. Taking the position of the water thruster 32 as the optimization design variable and the minimum system energy consumption as the objective function, a given initial movement scheme is expressed as:

[0106]

[0107] In the formula, f' is the system energy consumption; α is the unit conversion coefficient; m is the different sea depths and sea conditions; μ i is the position of the slide rail; P i is the data collected at the i-th moment; P i0 is the data collected at the previous moment of the i-th moment; η pi is the efficiency of the power device 45 at the i-th moment; η ei is the efficiency of the power device 45 at the previous moment of the i-th moment;

[0108] Step 2. Select the position of the water thruster 32 as the optimization design variable, that is, the position X of the particle. The position of each particle in the population is the actual running speed. Through the iterative optimization of the particle, the optimal solution is obtained.

[0109] Step 3: After the particle initialization is completed, determine whether the particle position, i.e., the position of the sliding track 2, satisfies the constraint condition for the umbilical cable 4 to maintain balance, that is, determine whether the given initial scheme is feasible, check whether the sum of the displacements represented by each particle position is equal to the sum of the buoyant forces on the umbilical cable 4, find the maximum and minimum values under the constraint conditions of the power device 45, and determine whether the total momentum of the system is within this range;

[0110] Step 4: When both conditions are met or the maximum number of iterations is reached, stop the calculation and output the optimal solution; the two conditions include that the global optimal value has not changed for k consecutive generations, and the penalty term corresponding to the global optimal solution is less than the given accuracy requirement; otherwise, return to Step 3, increment the loop count by 1, and continue the iteration.

[0111] Such as Figure 13 , the preset training model includes the following steps:

[0112] Step 11: Take the position of the water pusher 32 as the optimization design variable, set the initial temperature Tg of the simulated annealing algorithm to infinity, the initial solution state X0 of the algorithm iteration, and the number of iterations L at each temperature T;

[0113] Step 12: After the particle initialization is completed, determine whether the particle position satisfies the umbilical cable balance, that is, check whether the buoyant force represented by each particle position is equal to the buoyant force on the umbilical cable 4; if the condition is met, go to Step 13; if not, go back to Step 11 and re-optimize;

[0114] Step 13: Perform Steps 14 to 17 for k = 1,..., L;

[0115] Step 14: Generate a new solution X;

[0116] Step 15: Calculate the increment ΔE = E(X) - E(X), where E(X) is the evaluation function and NE(X) is the evaluation index;

[0117] Step 16: If ΔE(X) < 0, accept X as the new current solution; if ΔE(X) > 0, accept X' as the new current solution with a probability of exp(-ΔE(X) / T);

[0118] Step 17: If the algorithm stop criterion is met, output the current solution as the optimal solution and end the program;

[0119] Step 18: Gradually reduce the temperature T, and when T → 0, return to Step 12.

Claims

1. A buoyancy regulation and data interaction cable system, characterized in that: It includes a towing cable (1), a sliding track (2), a buoy (3), an umbilical cable (4) and a ground control center (5); one end of the towing cable (1) passes through the sliding track (2) and is fixed to the seabed, the sliding track (2) is connected to the buoy (3) through the umbilical cable (4), and the ground control center (5) adjusts the position of the umbilical cable (4) according to the monitored sea area conditions; The buoy (3) includes a transmission module (31), a water pusher (32), a buoy (33), a control and analysis unit (34), a sea surface condition monitoring module (35), a solar panel (36) and a storage battery (37); the transmission module (31) sends data to the buoy (33), and then the buoy (33) sends it to the ground control center (5); the control and analysis unit (34) is used to analyze the received data and feedback it to the power device (45) in the umbilical cable (4); the solar panel (36) converts solar energy into electrical energy and stores it in the storage battery (37) for powering the transmission module (31), the water pusher (32), the buoy (33), the control and analysis unit (34), and the sea surface condition monitoring module (35); The umbilical cable (4) internally is provided with a stainless steel pipe (42), a dual optical fiber cable (43), a cable (44), a power device (45), a power conversion module (46), an underwater optical fiber communication module (47) and a sensing system (48); the dual optical fiber cable (43) is connected to the underwater optical fiber communication module (47), the power conversion module (46) converts the electrical energy transmitted by the cable (44) into the electrical energy required by each device, the power conversion module (46) and the underwater optical fiber communication module (47) are both connected to the sensing system (48), and the sensing system (48) is arranged at different height positions in the umbilical cable (4); The steps for the ground control center (5) to adjust the position of the umbilical cable (4) include: A. The system starts to run, and the sensing system (481) starts to capture information on the water flow velocity, pressure, and tension in different deep seas during consecutive working cycles, and the buoy (33) starts to monitor the positioning information; B. After preprocessing the received data by the sensing system (481), it is transmitted through the dual optical fiber cable to the control and analysis unit (34) in the buoy (3), and the sea surface condition monitoring module (35) transmits the captured data to the control and analysis unit (34); C. The control and analysis unit (34) issues an instruction to the power device (45) to optimize the position of the sensing system (48); D. The ground control center (5) judges whether the umbilical cable (4) exceeds the maximum pressure it can withstand; D1. When the umbilical cable (4) has exceeded the maximum pressure it can withstand, the ground control center (5) selects the best moving direction and distance according to the preset training model; D11. The ground control center (5) judges whether the umbilical cable (4) is within the pressure range it can withstand; D111. When it exceeds the pressure range it can withstand, the ground control center (5) judges whether it exceeds the set control threshold; D1111. When it does not exceed the set control threshold, repeat step D; D1112. When the set control threshold is exceeded, the ground control center (5) transmits a signal to the buoy (33). D1113. The buoy (33) transmits data to the ground control center (5). D1114. The ground control center (5) moves the water thruster (32) according to a preset training model and feeds back a control instruction to the buoy (33). D1115. The buoy (33) transmits the instruction to the water thruster (32). D12. When within the bearable pressure range, the entire process ends. D2. When the umbilical cable (4) does not exceed the maximum bearable pressure, the ground control center (5) memorizes the optimal position in this pressure state.

2. The buoyancy control and data interaction cable system according to claim 1, wherein: The sensing system (48) includes a sensing system (481), a transmission system (482), and an acquisition and control system (483). The sensing system (481) includes a CTD profiler, a water flow velocity sensor, a tension sensor, and a camera. The acquisition and control system (483) includes an information acquisition and information processing module, which is responsible for preprocessing the collected data. The transmission system (482) is used to transmit the preprocessed data to the control and analysis unit (34) inside the buoy (3).

3. The buoyancy control and data interaction cable system according to claim 2, characterized in that: The steps for the ground control center (5) to collect information include: (a) The sensing system (481) collects data of the sensing systems (48) at different positions, and the acquisition and control system (483) preprocesses the data. (b) The preprocessed data is transmitted into the buoy (3) through the underwater optical fiber communication module (47) and the double optical fiber cable (43). (c) The control and analysis unit (34) inside the buoy (3) analyzes the received data and the data received by the sea surface condition monitoring module (35), and forwards the analysis results to the buoy (33) and the ground control center (5) through a WIFI signal. The buoy (33) forwards the collected information to the ground control center (5) through the GPS Beidou satellite.

4. The buoyancy control and data interaction cable system according to claim 1, characterized in that: The method for determining the optimal installation position of the sensing system (48) includes the following steps: (a) Initial selection of measurement point positions. Denote the initially selected points as the degrees of freedom of the initially selected measurement points, and the unselected points as the unselected degrees of freedom. (b) Construct a MAC matrix. Denote the modal vector matrix of the degrees of freedom of the initially selected measurement points as u(n×m), where n is the number of degrees of freedom of the selected measurement points, and m is the modal order of the initially selected measurement points. (c) Locate the maximum non-diagonal element of the MAC matrix. (d) Screen the unselected degrees of freedom. Sequentially add the degrees of freedom of the unselected measurement points to the degrees of freedom of the selected measurement points, and recalculate the value of the maximum non-diagonal element. (e) Calculate the Fisher matrix for the degrees of freedom of the initially selected measurement points. (f) Comprehensively evaluate the candidate measurement points, and superimpose the ability of the maximum non-diagonal element and the ability to increase the Fisher trace. (g) Re-evaluate the initially selected measurement point group, conduct inspections, and repeat the steps (b) to (f).

5. A buoyancy control and data interaction cable system according to claim 1, characterized in that: The control and analysis unit (34) inside the buoy (3) forwards and analyzes the data, and issues the primary instructions to the power device (45) through the double optical fiber cable (43) to control the movement of the sensing system (481); the ground control center (5) conducts overall analysis and processing of the data, and transmits the instructions to the buoy (33) through the GPS and Beidou satellites and to the water thruster (32) inside the buoy (3) through the WIFI signal.

6. The buoyancy control and data interaction cable system according to claim 1, characterized in that: The preset training model is as follows: Step 1: The sensing system (481) measures the data of different sea depths and the sea level data. Taking the position of the water thruster (32) as the optimization design variable and the minimum system energy consumption as the objective function, the expression is: Wherein, is the system energy consumption; is the unit conversion coefficient; are different sea depths and sea conditions; is the position of the slide rail; is the data collected at the is the data collected at the previous moment of the is the efficiency of the power device (45) at the is the efficiency of the power device (45) at the previous moment of the Step 2: Select the position of the water thruster (32) as the optimization design variable, that is, the position of the particle X. The position of each particle in the population is the actual running speed. Through the iterative optimization of the particles, the optimal solution is obtained. Step 3: After the particle initialization is completed, determine whether the position of the particle, that is, the position of the sliding track (2), satisfies the constraint condition for the umbilical cable (4) to maintain balance. Judge whether the sum of the displacements represented by each particle position is equal to the sum of the buoyancy forces received by the umbilical cable (4), find the maximum and minimum values under the constraint conditions of the power device (45), and judge whether the total momentum of the system is within this range. Step 4: When both conditions are met or the maximum number of iterations is reached, stop the calculation and output the optimal solution; the two conditions include that the global optimal value has not changed for k consecutive iterations, where k is the number of iterations, and the penalty term corresponding to the global optimal solution is less than the given precision requirement. Otherwise, return to Step 3, increment the loop count by 1, and continue the iteration.

7. A buoyancy control and data interaction cable system according to claim 1, characterized in that: A mesh flexible pipe cable protection sleeve (41) is provided on the surface of the umbilical cable (4).

8. A buoyancy control and data interaction cable system according to claim 1, characterized in that: The umbilical cable (4) is connected to the buoy (3) through a rotatable sling (6).

Images