A submarine cable water entry angle detection device and method

Abstract

The application provides a submarine cable water entry angle detection device and method. The rotating arm is rotationally connected with the base, and the rotating arm is rotationally connected with the rotating arm, so that the rotating arm can freely rotate in a horizontal plane, and the rotating arm can freely rotate in a vertical plane. Since the rotating arm is fixedly connected with the cable embracing assembly, when the submarine cable passes through the cable embracing assembly to enter water on the cable laying ship, the rotating arm and the rotating arm can move freely in the horizontal plane and the vertical plane along with the submarine cable, so that the laying operation of the submarine cable is not affected. Since the connecting part of the rotating arm and the rotating arm is provided with an encoder, the angular displacement of the rotating arm can be obtained in real time through the encoder during the water entry of the submarine cable, so that the water entry angle of the submarine cable is obtained. Since the rotating arm is an L-shaped structure and is provided with an inclinometer, the rotating arm can detect the inclination of the cable laying ship body during the measurement, so that the measurement accuracy of the water entry angle of the submarine cable is improved.

Description

Technical Field

[0001] This invention relates to the field of submarine cable laying technology, and in particular to a device and method for detecting the angle of entry of a submarine cable into the water. Background Technology

[0002] With the rapid development of my country's offshore wind power industry, a large number of submarine cables are being laid between offshore wind farms. Submarine cables are a crucial means of power and communication transmission between coastal islands and cities, or between cities along inland rivers. Cable laying is typically carried out by cable-laying vessels. To control the cable laying speed and the vessel's speed, it is essential to constantly monitor the cable's tension and its attitude in the water during the laying process. This allows for the calculation of the cable allowance, ensuring the cable lands in the designated position without bending or overlapping. Therefore, real-time monitoring of the cable's entry angle into the water and timely understanding of its entry status during cable laying will play a vital role in the calculation and control of the cable laying process.

[0003] In actual operation, cable-laying vessels are often subject to significant rolling and undulation due to waves, making it difficult to measure the cable entry angle and ensuring accuracy. Furthermore, cable laying requires not only convenient installation and reliable operation of the measurement device, but also that it does not interfere with the deployment of cable repeaters. Existing tilt measurement devices and methods are primarily used in the automotive, machinery manufacturing, and ship capsizing industries, and cannot meet the specific needs of measuring cable entry angles. Currently, there are no commercially available devices or methods that can simultaneously measure both the cable-laying vessel's tilt angle and the cable entry angle. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to provide a device and method for detecting the angle of entry of a submarine cable into the water, so as to realize the real-time detection of the tilt angle of the cable-laying vessel during the measurement process and improve the accuracy of the detection of the angle of entry of the submarine cable into the water.

[0005] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is as follows:

[0006] A submarine cable entry angle detection device includes a base, a rotating arm, a swivel arm, and a cable-holding assembly; one end of the rotating arm is rotatably connected to the base, and another end of the rotating arm is rotatably connected to the end of the rotating arm away from the base; the rotating arm has an L-shaped structure; the cable-holding assembly is connected to the end of the rotating arm away from the rotating arm; an inclinometer is provided on the rotating arm, and an encoder is provided at the connection between the rotating arm and the swivel arm.

[0007] To solve the above-mentioned technical problems, another technical solution adopted by the present invention is as follows:

[0008] A method for detecting the water entry angle of a submarine cable includes the following steps:

[0009] The submarine cable laying device is fixed at a predetermined position on the cable-laying vessel, and the submarine cable is passed through the submarine cable laying device.

[0010] The inclination information obtained by the inclinometer in the submarine cable laying device, which is always parallel to the cable-laying vessel, is collected according to a preset period, and the angle information between the submarine cable and the inclinometer is also collected.

[0011] The entry angle of the submarine cable is obtained based on the tilt angle information and the included angle information:

[0012] θ = 180° - β + α;

[0013] Where θ represents the entry angle, α represents the tilt angle, and β represents the included angle.

[0014] The beneficial effects of this invention are as follows: By rotatably connecting the rotating arm to the base and to each other, the rotating arm can rotate freely in both the horizontal and vertical planes. Since the rotating arm is fixedly connected to the cable-holding assembly, when the submarine cable passes through the assembly and is lowered into the water on the cable-laying vessel, the rotating arm and its components can move freely in both the horizontal and vertical planes along with the cable, avoiding interference with the cable laying operation. Because an encoder is installed at the connection point between the rotating arms, the angular displacement of the rotating arm can be acquired in real time during the cable's entry into the water, thus obtaining the cable's entry angle. Furthermore, since the rotating arm has an L-shaped structure and is equipped with an inclinometer, it can detect the inclination angle of the cable-laying vessel itself during measurement, thereby improving the accuracy of the cable entry angle measurement. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of a submarine cable entry angle detection device provided in an embodiment of the present invention;

[0016] Figure 2 An exploded view of the base provided in an embodiment of the present invention;

[0017] Figure 3 This is a schematic diagram of the structure of the rotating arm provided in an embodiment of the present invention;

[0018] Figure 4 An exploded view of the rotating arm provided in an embodiment of the present invention;

[0019] Figure 5 This is a schematic diagram of the structure of the support base provided in an embodiment of the present invention;

[0020] Figure 6 This is a schematic diagram of the structure of the rotating arm provided in an embodiment of the present invention;

[0021] Figure 7 Provided for embodiments of the present invention Figure 6 Detailed view of point A in the middle;

[0022] Figure 8 This is a schematic diagram of the cable-holding assembly provided in an embodiment of the present invention;

[0023] Figure 9 An exploded view of the cable-holding assembly provided in an embodiment of the present invention;

[0024] Figure 10 This is a schematic diagram of a method for detecting the water entry angle of a submarine cable according to an embodiment of the present invention;

[0025] Label Explanation:

[0026] 1. Base; 2. Rotating arm; 3. Swinging arm; 4. Cable clamping assembly; 5. Inclinometer; 6. Encoder; 11. Fixing part; 12. Thrust bearing; 13. Bearing end cover; 14. Rotating shaft; 15. Sealing ring; 110. Horizontal bearing seat; 21. Support seat; 22. Cross arm; 23. Rib frame; 24. Pin; 25. Pin fixing block; 210. Connecting plate; 211. Bearing mounting hole; 220. Vertical bearing assembly; 2201. Left clamping plate; 2202. Right clamping plate; 2203. Splined shaft; 2204. Through hole; 2205, First bearing; 230, Parallel plate; 31, Spline sleeve hole; 41, Left gripper; 42, Right gripper; 43, Fixing plate; 430, Vertical bearing seat; 4301, Second bearing; 44, Slide rod; 45, Lead screw; 451, Left-hand lead screw; 452, Right-hand lead screw; 46, Drive assembly; 461, Drive mounting base; 462, Motor coupling; 463, Servo motor; 47, Sliding hole; 48, Threaded hole; 49, Ultrasonic ranging assembly; 50, Roller; 61, Coupling; 62, Encoder mounting base. Detailed Implementation

[0027] To explain in detail the technical content, objectives, and effects of the present invention, the following description is provided in conjunction with the embodiments and accompanying drawings.

[0028] Please refer to Figure 1 This invention provides a submarine cable entry angle detection device, including a base, a rotating arm, a swivel arm, and a cable-holding assembly; one end of the rotating arm is rotatably connected to the base, and another end of the rotating arm is rotatably connected to the end of the rotating arm away from the base; the rotating arm has an L-shaped structure; the cable-holding assembly is connected to the end of the rotating arm away from the rotating arm; an inclinometer is provided on the rotating arm, and an encoder is provided at the connection between the rotating arm and the swivel arm.

[0029] As described above, the beneficial effects of this invention are as follows: By rotatably connecting the rotating arm to the base and to each other, the rotating arm can rotate freely in both the horizontal and vertical planes. Since the rotating arm is fixedly connected to the cable-holding assembly, when the submarine cable passes through the assembly and is lowered into the water on the cable-laying vessel, the rotating arm and the cable-holding assembly can move freely in both the horizontal and vertical planes, avoiding interference with the cable laying operation. Because an encoder is installed at the connection point between the rotating arms, the angular displacement of the rotating arm can be obtained in real time during the cable's entry into the water, thus determining the cable's entry angle. Furthermore, since the rotating arm has an L-shaped structure and is equipped with an inclinometer, it can detect the inclination angle of the cable-laying vessel itself during measurement, thereby improving the accuracy of the cable's entry angle measurement.

[0030] Furthermore, the base includes a fixing part, a thrust bearing, a bearing end cover, and a rotating shaft;

[0031] A horizontal bearing seat is provided on one side of the fixed part, the thrust bearing is disposed inside the horizontal bearing seat, the bearing end cover is disposed at the opening of the horizontal bearing seat, and a sealing ring is provided between the bearing end cover and the horizontal bearing seat; one end of the rotating shaft passes through the bearing end cover and is embedded in the center of the thrust bearing, and one end of the rotating arm is fixedly connected to the other end of the rotating shaft.

[0032] As described above, the device is fixed to the cable-laying vessel via a fixing unit. The thrust bearing and shaft are housed within the horizontal bearing seat of the fixing unit, allowing them to rotate freely in the horizontal plane. A rotating arm is fixed to one end of the shaft. When the rotating arm is subjected to the tension of the submarine cable, the arm rotates synchronously with the bearing and cable, preventing the arm from interfering with the cable laying operation. Furthermore, a sealing ring and bearing cap are installed at the opening of the horizontal bearing seat to ensure the overall sealing of the base, preventing foreign objects from getting stuck inside and extending the base's service life.

[0033] Furthermore, the rotating arm includes a support base, a cross arm, and a rib frame;

[0034] One end of the support base is rotatably connected to the base, and the other end of the support base is connected to one end of the cross arm, with the angle between the support base and the cross arm being a right angle; one end of the rib plate frame is connected to the end of the support base away from the cross arm, and the other end of the rib plate frame is connected to the middle of the cross arm; a vertical bearing assembly is provided at the end of the cross arm away from the support base, and the vertical bearing assembly is fixedly connected to one end of the rotating arm; the inclinometer is located on the side of the cross arm away from the rib plate frame.

[0035] As described above, because the support base and the crossarm are fixedly connected and the included angle between them is a right angle, the support base remains perpendicular to the cable-laying vessel and the crossarm remains parallel to the vessel during the measurement process, regardless of the tilt angle of the cable-laying vessel itself. Therefore, the tilt angle of the cable-laying vessel can be obtained simply by measuring the tilt angle of the crossarm. This invention uses an inclinometer mounted on the crossarm to obtain the tilt angle of the crossarm, providing a convenient measurement method that does not interfere with the cable laying operation. Furthermore, a rib frame is installed between the support arm and the crossarm to strengthen their structural strength and prevent deformation of the included angle.

[0036] Furthermore, the vertical bearing assembly includes a left clamping plate, a right clamping plate, and a splined shaft;

[0037] The left clamping plate is fixedly connected to the end of the cross arm away from the support base; the right clamping plate is detachably connected to the end of the cross arm away from the support base; the left clamping plate and the right clamping plate are parallel to each other;

[0038] Both the left clamping plate and the right clamping plate have through holes in their middle sections, and first bearings are respectively installed in the through holes; the spline shaft is located between the left clamping plate and the right clamping plate; one end of the spline shaft passes through the first bearing and is connected to the encoder, and the other end of the spline shaft is connected to another first bearing; the spline shaft is fixedly connected to one end of the rotating arm.

[0039] As described above, the left and right clamps in the vertical bearing assembly, with the rotating arm fixed between them, prevent the rotating arm from swinging left and right. The right clamp is detachably connected for easy assembly and disassembly. Simultaneously, a first bearing is located in the middle of both the left and right clamps. Both ends of the splined shaft are connected to the first bearing, and the splined shaft is fixedly connected to the rotating arm. This allows the splined shaft connected to the rotating arm to rotate freely within the clamps via the bearings when the rotating arm swings up and down under the tension of the submarine cable, without restricting the range of motion of the rotating arm. An encoder is connected to one end of the splined shaft to obtain the angular displacement of the splined shaft, thereby obtaining the swing angle of the rotating arm and calculating the entry angle of the submarine cable into the water.

[0040] Furthermore, one end of the rotating arm is provided with a spline sleeve hole, one end of the spline shaft passes through the spline sleeve hole and the first bearing to connect to the encoder, the other end of the spline shaft is connected to another first bearing, and the inner wall of the spline sleeve hole is provided with a textured structure that matches the surface of the spline shaft.

[0041] As described above, the texture of the spline sleeve hole is adapted to the surface of the spline shaft, preventing the spline shaft from sliding in the spline sleeve hole. As a result, when the rotating arm drives the spline shaft to rotate, there is no relative displacement between the rotating arm and the spline shaft, so that the swing angle of the rotating arm is the same as the angular displacement of the spline shaft. The underwater cable entry angle can be obtained by the encoder on the spline shaft.

[0042] Furthermore, the cable-holding assembly includes a left gripper, a right gripper, a fixing plate, a slide bar, a lead screw, and a drive assembly;

[0043] One side of the fixed plate is connected to the end of the rotating arm away from the rotating arm, and vertical bearing seats are respectively provided at both ends of the other side of the fixed plate;

[0044] The left and right grippers are each provided with a sliding hole and a threaded hole at their connecting parts; both ends of the slide rod pass through the sliding hole and are connected to the vertical bearing seat; a second bearing is provided on the vertical bearing seat, and both ends of the lead screw are connected to the second bearing; one of the second bearings is connected to the drive assembly; the lead screw and the slide rod are parallel to each other;

[0045] The connecting parts of the left and right grippers are each provided with a sliding hole and a threaded hole. The sliding rod passes through the sliding hole and is slidably connected to the left and right grippers respectively. The lead screw passes through the threaded hole and is connected to the left and right grippers respectively.

[0046] As described above, the left and right grippers constrain the submarine cable at the water entry point, allowing the rotating arm and the pivot arm of the device to rotate together with the cable for measuring its entry angle. The fixing plate connects the bearing devices on both sides of the left and right grippers, enabling overall assembly. The sliding rod is slidably connected to the grippers; when the screw drives the grippers to move, the sliding rod provides guidance while ensuring the stability of the grippers. The screw is connected to the drive assembly via bearings, allowing for free control of the gripper's opening and closing degree, thus better constraining the submarine cable.

[0047] Furthermore, the lead screw includes a left-hand lead screw and a right-hand lead screw; one end of the left-hand lead screw is connected to the vertical bearing seat on the right side, the other end of the left-hand lead screw is connected to one end of the right-hand lead screw, and the other end of the right-hand lead screw is connected to the vertical bearing seat on the left side; the left-hand lead screw passes through the threaded hole of the right jaw; the right-hand lead screw passes through the threaded hole of the left jaw.

[0048] As described above, the lead screw is connected by two lead screws with different directions of rotation, and the directions of rotation are matched with the threaded holes of the left and right jaws respectively. This allows the lead screw to rotate when the drive assembly drives the lead screw to move simultaneously relative to or in opposite directions with the left and right jaws. In this way, the opening degree of the cable clamping assembly can be freely adjusted according to the outer diameter of the submarine cable.

[0049] Furthermore, an ultrasonic ranging component is provided on the side of the left gripper near the right gripper or on the side of the right gripper near the left gripper, and the ultrasonic ranging component is connected to the driving component.

[0050] As described above, the ultrasonic ranging component on the gripper can detect foreign objects or repeaters attached to the submarine cable, thereby autonomously controlling the start of the drive component, which in turn controls the opening and closing degree of the cable-holding component, allowing the submarine cable to pass smoothly.

[0051] Furthermore, both the left and right grippers are equipped with multiple rollers on their gripping portions.

[0052] As described above, the gripping part of the claw is equipped with rollers, which allows the submarine cable to pass smoothly through the cable holding assembly.

[0053] Reference Figure 10 Another embodiment of the present invention provides a method for detecting the entry angle of a submarine cable, comprising the following steps:

[0054] The submarine cable laying device is fixed at a predetermined position on the cable-laying vessel, and the submarine cable is passed through the submarine cable laying device.

[0055] The inclination information obtained by the inclinometer in the submarine cable laying device, which is always parallel to the cable-laying vessel, is collected according to a preset period, and the angle information between the submarine cable and the inclinometer is also collected.

[0056] The entry angle of the submarine cable is obtained based on the tilt angle information and the included angle information:

[0057] θ = 180° - β + α;

[0058] Where θ represents the entry angle, α represents the tilt angle, and β represents the included angle.

[0059] As described above, the beneficial effects of this invention are as follows: by acquiring the inclination information of an inclinometer parallel to the cable-laying vessel, the inclination angle of the cable-laying vessel is obtained; simultaneously, the angle between the submarine cable and the parallel inclinometer is collected when the cable enters the water. Based on the positional relationship between the cable-laying vessel, the parallel inclinometer, and the submarine cable, the angle of entry into the water for the submarine cable can be obtained. This invention measures the inclination angle of the cable-laying vessel while measuring the angle of entry into the water for the submarine cable, and calculates the angle of entry into the water for the submarine cable using the inclination angle of the cable-laying vessel and the angle between the submarine cable and the parallel inclinometer, thereby improving the accuracy of detection.

[0060] This invention provides a device and method for detecting the water entry angle of a submarine cable, which can be applied to submarine cable laying scenarios. It enables simultaneous detection of the cable-laying vessel's tilt angle and the cable's water entry angle, improving the accuracy of the detection. Specific embodiments are described below:

[0061] Please refer to Figures 1 to 9 Embodiment 1 of the present invention is as follows:

[0062] A submarine cable entry angle detection device includes a base 1, a rotating arm 2, a rotating arm 3, and a cable holding assembly 4; one end of the rotating arm 2 is rotatably connected to the base 1, and one end of the rotating arm 3 is rotatably connected to the end of the rotating arm 2 away from the base 1; the rotating arm 2 has an L-shaped structure; the cable holding assembly 4 is connected to the end of the rotating arm 3 away from the rotating arm 2; an inclinometer 5 is installed on the rotating arm 2, and an encoder 6 is installed at the connection between the rotating arm 2 and the rotating arm 3.

[0063] In some embodiments, the L-shaped structure of the rotating arm 2 is divided into a vertical structure and a horizontal structure. One end of the vertical structure is rotatably connected to the base 1, the other end of the vertical structure is connected to one end of the horizontal structure, and the other end of the horizontal structure is connected to the rotating arm 3. In this way, the vertical structure of the rotating arm 2 can always be perpendicular to the hull, while the horizontal structure of the rotating arm 2 can always be parallel to the hull. Furthermore, the vertical structure is rotatably connected to the base 1, ensuring that when the horizontal structure is subjected to the tension of the rotating arm 3, the horizontal structure can drive the vertical structure to rotate freely in the horizontal plane. The horizontal and vertical structures can be integrally formed.

[0064] Reference Figure 2 Specifically, the base 1 includes a fixing part 11, a thrust bearing 12, a bearing end cover 13, and a rotating shaft 14; a horizontal bearing seat 110 is provided on one side of the fixing part 11, the thrust bearing 12 is provided inside the horizontal bearing seat 110, the bearing end cover 13 is provided at the opening of the horizontal bearing seat 110, and a sealing ring 15 is provided between the bearing end cover 13 and the horizontal bearing seat 110; one end of the rotating shaft 14 passes through the bearing end cover 13 and is embedded in the center of the thrust bearing 12, and one end of the rotating arm 2 is fixedly connected to the other end of the rotating shaft 14.

[0065] In some embodiments, the fixing part 11 is a bent steel plate structure, and the bent shape of the fixing part 11 is an isosceles trapezoid to ensure the stability of the base 1. The edge plates located on both sides of the isosceles trapezoid are fixed to the hull or deck of the cable-laying vessel by bolts, thereby ensuring the stability of the device. A horizontal bearing seat 110 is disposed on the upper plate of the isosceles trapezoid. The bearing end cap 13 is fixed to the opening of the horizontal bearing seat 110 by bolts.

[0066] Reference Figure 3Specifically, the rotating arm 2 includes a support base 21, a cross arm 22, and a rib frame 23; one end of the support base 21 is rotatably connected to the base 1, and the other end of the support base 21 is connected to one end of the cross arm 22, and the angle between the support base 21 and the cross arm 22 is a right angle; one end of the rib frame 23 is connected to the end of the support base 21 away from the cross arm 22, and the other end of the rib frame 23 is connected to the middle of the cross arm 22; a vertical bearing assembly 220 is provided at the end of the cross arm 22 away from the support base 21, and the vertical bearing assembly 220 is fixedly connected to one end of the rotating arm 3; the inclinometer 5 is located on the side of the cross arm 22 away from the rib frame 23.

[0067] It should be noted that the support base 21 is the aforementioned vertical structure, and the cross arm 22 is the aforementioned horizontal structure.

[0068] Reference Figure 5 In some embodiments, the support base 21 has a U-shaped structure, meaning it includes an open end and a connecting end. The support base 21 and the cross arm 22 are fixedly connected by a pin 24. Specifically, the two side plates at the open end of the support base 21 each have connecting holes, and one end of the cross arm 22 also has a corresponding connecting hole. One end of the cross arm 22 is positioned between the two side plates at the open end of the support base 21. Simultaneously, one end of the pin 24 passes through the connecting holes on both the support base 21 and the cross arm 22 and connects to the pin fixing block 25. In this way, when the cross arm 22 cannot remain parallel to the hull, the angle between the support base 21 and the cross arm 22 can be adjusted via the pin 24, thereby ensuring that the cross arm 22 is always parallel to the hull and improving the accuracy of hull tilt angle detection.

[0069] In some embodiments, the support base 21 and the rotating shaft 14 are fixedly connected by bolts. Specifically, the connecting end of the support base 21 is provided with a bearing mounting hole 211, the cross-section of which is hexagonal, and the cross-section of the connecting part between the rotating shaft 14 and the support base 21 is also hexagonal. The connecting part of the rotating shaft 14 passes through the bearing mounting hole 211 and is connected with a nut. In this way, the support base 21 and the rotating shaft 14 are fixedly connected, and there will be no relative sliding between them, thereby ensuring the degree of freedom and stability of the device.

[0070] In some embodiments, parallel plates 230 are provided at both ends of the rib frame 23, and the two parallel plates 230 are parallel to each other. Specifically, a connecting plate 210 is provided on the side of the support base 21 near the cross arm 22. The parallel plate 230 at one end of the rib frame 23 is fixedly connected to the connecting plate 210 by bolts, and the parallel plate 230 at the other end of the rib frame 23 is fixedly connected to the lower side of the middle part of the cross arm 22 by bolts. In this way, a stable triangular structure is formed between the support base 21, the rib frame 23, and the cross arm 22, thereby improving the structural strength.

[0071] Reference Figure 4 Specifically, the vertical bearing assembly 220 includes a left clamping plate 2201, a right clamping plate 2202, and a splined shaft 2203; the left clamping plate 2201 is fixedly connected to the end of the horizontal arm 22 away from the support base 21; the right clamping plate 2202 is detachably connected to the end of the horizontal arm 22 away from the support base 21; the left clamping plate 2201 and the right clamping plate 2202 are parallel to each other; both the left clamping plate 2201 and the right clamping plate 2202 are provided with through holes 2204 in the middle, and first bearings 2205 are respectively provided in the through holes 2204; the splined shaft 2203 is located between the left clamping plate 2201 and the right clamping plate 2202; one end of the splined shaft 2203 passes through the first bearing 2205 and connects to the encoder 6, and the other end of the splined shaft 2203 is connected to another first bearing 2205; the splined shaft 2203 is fixedly connected to one end of the rotating arm 3.

[0072] In some embodiments, the connection structure between the spline shaft 2203 and the encoder 6 is as follows: one end of the spline shaft 2203 passes through the first bearing 2205 and is connected to one end of the coupling 61, the other end of the coupling 61 is connected to the encoder mounting base 62, and the encoder 6 is mounted on the encoder mounting base 62.

[0073] Reference Figure 6 and Figure 7 Specifically, one end of the rotating arm 3 is provided with a spline sleeve hole 31, one end of the spline shaft 2203 passes through the spline sleeve hole 31 and the first bearing 2205 to connect to the encoder 6, the other end of the spline shaft 2203 is connected to another first bearing 2205, and the inner wall of the spline sleeve hole 31 is provided with a textured structure that matches the surface of the spline shaft 2203.

[0074] Reference Figure 8 Specifically, the cable-holding assembly 4 includes a left gripper 41, a right gripper 42, a fixing plate 43, a sliding rod 44, a lead screw 45, and a drive assembly 46. One side of the fixing plate 43 is connected to the end of the rotating arm 3 away from the rotating arm 2, and the two ends of the other side of the fixing plate 43 are respectively provided with vertical bearing seats 430. The connecting parts of the left gripper 41 and the right gripper 42 are each provided with a sliding hole 47 and a threaded hole 48. The two ends of the sliding rod 44 pass through the sliding hole 47 and are connected to the vertical bearing seat 430. A second bearing 4301 is provided on the vertical bearing seat 430, and the two ends of the lead screw 45 are respectively connected to the second bearing 4301. The second bearing 4301 is connected to the drive assembly 46. The lead screw 45 and the sliding rod 44 are parallel to each other. The lead screw 45 passes through the threaded hole 48 and is connected to the left gripper 41 and the right gripper 42 respectively.

[0075] It should be noted that all connections in the cable-holding assembly 4 are bolted connections.

[0076] In some embodiments, the drive assembly 46 includes a drive mounting base 461, a motor coupling 462, and a servo motor 463. Two vertical bearing seats 430 are each provided with a second bearing 4301. One end of a lead screw 45 is connected to one of the second bearings 4301, and the other end of the lead screw 45 passes through the other second bearing 4301 and is connected to the drive mounting base 461. The drive mounting base 461 is connected to one end of the motor coupling 462, and the other end of the motor coupling 462 is connected to the servo motor 463.

[0077] Reference Figure 9 Specifically, the lead screw 45 includes a left-hand lead screw 451 and a right-hand lead screw 452; one end of the left-hand lead screw 451 is connected to the right vertical bearing seat 430, the other end of the left-hand lead screw 451 is connected to one end of the right-hand lead screw 452, and the other end of the right-hand lead screw 452 is connected to the left vertical bearing seat 430; the left-hand lead screw 451 passes through the threaded hole 48 of the right jaw 42; the right-hand lead screw 452 passes through the threaded hole 48 of the left jaw 41.

[0078] Specifically, an ultrasonic ranging component 49 is provided on the side of the left gripper 41 near the right gripper 42 or on the side of the right gripper 42 near the left gripper 41, and the ultrasonic ranging component 49 is connected to the drive component 46.

[0079] The ultrasonic ranging component 49 includes a mounting bracket and a ranging sensor.

[0080] Specifically, multiple rollers 50 are provided on the gripping parts of both the left gripper 41 and the right gripper 42.

[0081] In some embodiments, the gripping portions of the left gripper 41 and the right gripper 42 are biomimetic structures similar to fingers, which can be replaced to fit the submarine cable.

[0082] Its working principle is as follows: The base is fixed to the hull or deck of the cable-laying vessel with bolts. The rotating arm, through the thrust bearing and shaft of the base, can rotate freely in the horizontal plane around the base. Simultaneously, the rotating arm, through the vertical bearing assembly of the rotating arm, can swing up and down in the vertical plane around the vertical bearing assembly. The cable-holding assembly is fixed to the rotating arm, ensuring that the submarine cable is not constrained by the device during deployment. When the submarine cable passes through the cable-holding assembly, both the submarine cable and the cable-laying vessel swing with the fluctuations of the sea level. At this time, the cable-laying vessel tilts. Since the support of the rotating arm remains perpendicular to the hull and the crossarm remains parallel to the hull, the tilt angle of the hull is the same as the tilt angle of the crossarm. Therefore, the tilt angle of the crossarm is collected by the inclinometer of the crossarm, thus obtaining the tilt angle of the hull. At the same time, the moving submarine cable drives the rotating arm to swing up and down through the cable-holding assembly. The angular displacement of the rotating arm is collected by the encoder at the connection between the rotating arm and the crossarm, thus obtaining the angle between the rotating arm and the crossarm. Since the crossarm is always parallel to the hull and the support is always perpendicular to the hull, the cable entry angle is calculated based on the positional relationships between the crossarm, support, reference horizontal plane, sea surface, and hull, using the tilt angle and the included angle. Furthermore, the cable entry angle and the hull's tilt angle occur at the same time, allowing for real-time acquisition of the cable entry angle.

[0083] Please refer to Figure 10 Embodiment two of the present invention is as follows:

[0084] A method for detecting the water entry angle of a submarine cable, using a water entry angle detection device described in Example 1 for real-time detection, includes the following steps:

[0085] S1 fixes the submarine cable laying device to the preset position of the cable-laying vessel and passes the submarine cable through the submarine cable laying device;

[0086] S2. Collect the inclination information obtained by the inclinometer in the submarine cable laying device, which is always parallel to the cable-laying vessel, according to a preset cycle, and at the same time collect the angle information between the submarine cable and the inclinometer.

[0087] Regarding the cable entry angle detection device described in Embodiment 1, since the inclinometer is installed on the cross arm of the rotating arm 2, and the cross arm 22 is parallel to the hull, the inclination angle of the cable-laying vessel can be measured by the inclinometer 5 on the cross arm 22. Simultaneously, an encoder 6 is installed at the connection between the rotating arm 2 and the rotating arm 3, which can accurately detect the rotation angle between the rotating arm 3 and the cross arm 22. Since the cable-holding assembly 4 is fixed on the rotating arm 3, the included angle between the cable and the cross arm 33 can be measured.

[0088] S3. Obtain the entry angle of the submarine cable into the water based on the tilt angle information and the included angle information:

[0089] θ = 180° - β + α;

[0090] Where θ represents the entry angle, α represents the tilt angle, and β represents the included angle.

[0091] The working principle of the detection method is as follows:

[0092] Assuming at a certain moment the cable-laying ship is in Figure 10 In the indicated posture, the transverse arm of the detection device is parallel to the hull. Therefore, the inclinometer on the transverse arm can measure the inclination angle α between the hull and the horizontal plane. At the same time, the encoder measures the angle β between the transverse arm and the rotating arm. Then, by performing mathematical calculations based on the angular relationship between the sea surface, the reference horizontal plane, the hull, the inclination angle α, and the angle β, the entry angle of the submarine cable into the water can be obtained.

[0093] In summary, the submarine cable entry angle detection device and method provided by this invention, through the rotatable connection between the rotating arm and the base, and the rotatable connection between the rotating arms, allows the rotating arm to rotate freely in both the horizontal and vertical planes. Since the rotating arm is fixedly connected to the cable-holding assembly, when the submarine cable passes through the cable-holding assembly and is entered into the water on the cable-laying vessel, the rotating arm and the rotating arm can move freely in both the horizontal and vertical planes along with the cable, avoiding interference with the cable laying operation. Simultaneously, because the support base of the rotating arm always remains perpendicular to the hull, and the horizontal arm of the rotating arm always remains parallel to the hull, and the L-shaped structure between the support base and the horizontal arm ensures that the tilt angle of the hull is the same as the tilt angle of the horizontal arm. This invention obtains the hull's tilt angle by installing an inclinometer on the crossarm to collect the crossarm's tilt angle; and by installing encoders on the splined shafts of the crossarm and rotating arm to obtain the angular displacement between the rotating arm and the crossarm, thus obtaining the included angle between the rotating arm and the crossarm. Based on the positional relationships between the crossarm, support base, hull, sea surface, and rotating arm, the cable entry angle is calculated. This invention can simultaneously detect the tilt angle of the cable-laying vessel itself during the measurement process and incorporates the tilt angle of the cable-laying vessel into the detection method, making the measurement results more accurate. Furthermore, the cable-holding assembly can automatically adjust, making it more suitable for submarine cables of various diameters, and its biomimetic structure allows for better contact with the cable during detection, improving detection stability and accuracy. Finally, the detection device of this invention adopts a modular design, making the installation and use of the device more convenient.

[0094] The above description is merely an embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent modifications made based on the content of the present invention specification and drawings, or direct or indirect applications in related technical fields, are similarly included within the patent protection scope of the present invention.

Claims

1. A device for detecting the water entry angle of a submarine cable, characterized in that, It includes a base, a rotating arm, a rotating arm, and a cable-holding assembly; one end of the rotating arm is rotatably connected to the base, and another end of the rotating arm is rotatably connected to the end of the rotating arm away from the base; the rotating arm has an L-shaped structure; the cable-holding assembly connects to the end of the rotating arm away from the rotating arm; an inclinometer is provided on the rotating arm, and an encoder is provided at the connection between the rotating arm and the rotating arm. The rotating arm includes a support base, a cross arm, and a rib frame; One end of the support base is rotatably connected to the base, and the other end of the support base is connected to one end of the cross arm, with a right angle between the support base and the cross arm; one end of the rib plate frame is connected to the end of the support base away from the cross arm, and the other end of the rib plate frame is connected to the middle of the cross arm; a vertical bearing assembly is provided at the end of the cross arm away from the support base, and the vertical bearing assembly is fixedly connected to one end of the rotating arm; the inclinometer is located on the side of the cross arm away from the rib plate frame; The cable clamping assembly includes a left clamp, a right clamp, a fixing plate, a slide bar, a lead screw, and a drive assembly; One side of the fixed plate is connected to the end of the rotating arm away from the rotating arm, and vertical bearing seats are respectively provided at both ends of the other side of the fixed plate; The left and right grippers are each provided with a sliding hole and a threaded hole at their connecting parts; both ends of the slide rod pass through the sliding hole and are connected to the vertical bearing seat; a second bearing is provided on the vertical bearing seat, and both ends of the lead screw are connected to the second bearing; the second bearing is connected to the drive assembly; the lead screw and the slide rod are parallel to each other; the lead screw passes through the threaded hole and is connected to the left and right grippers respectively.

2. The submarine cable entry angle detection device according to claim 1, characterized in that, The base includes a fixing part, a thrust bearing, a bearing end cover, and a rotating shaft; A horizontal bearing seat is provided on one side of the fixed part, the thrust bearing is disposed inside the horizontal bearing seat, the bearing end cover is disposed at the opening of the horizontal bearing seat, and a sealing ring is provided between the bearing end cover and the horizontal bearing seat; one end of the rotating shaft passes through the bearing end cover and is embedded in the center of the thrust bearing, and one end of the rotating arm is fixedly connected to the other end of the rotating shaft.

3. The submarine cable entry angle detection device according to claim 1, characterized in that, The vertical bearing assembly includes a left clamping plate, a right clamping plate, and a splined shaft; The left clamping plate is fixedly connected to the end of the cross arm away from the support base; the right clamping plate is detachably connected to the end of the cross arm away from the support base; the left clamping plate and the right clamping plate are parallel to each other; Both the left clamping plate and the right clamping plate have through holes in their middle sections, and first bearings are respectively installed in the through holes; the spline shaft is located between the left clamping plate and the right clamping plate; one end of the spline shaft passes through the first bearing and is connected to the encoder, and the other end of the spline shaft is connected to another first bearing; the spline shaft is fixedly connected to one end of the rotating arm.

4. The submarine cable entry angle detection device according to claim 3, characterized in that, One end of the rotating arm is provided with a spline sleeve hole, one end of the spline shaft passes through the spline sleeve hole and the first bearing to connect to the encoder, the other end of the spline shaft is connected to another first bearing, and the inner wall of the spline sleeve hole is provided with a texture structure that matches the surface of the spline shaft.

5. The submarine cable entry angle detection device according to claim 1, characterized in that, The lead screw includes a left-hand lead screw and a right-hand lead screw; one end of the left-hand lead screw is connected to the vertical bearing seat on the right side, the other end of the left-hand lead screw is connected to one end of the right-hand lead screw, and the other end of the right-hand lead screw is connected to the vertical bearing seat on the left side; the left-hand lead screw passes through the threaded hole of the right jaw; the right-hand lead screw passes through the threaded hole of the left jaw.

6. The submarine cable entry angle detection device according to claim 1, characterized in that, An ultrasonic ranging component is provided on the side of the left gripper near the right gripper or on the side of the right gripper near the left gripper, and the ultrasonic ranging component is connected to the driving component.

7. The submarine cable entry angle detection device according to claim 1, characterized in that, Both the left and right grippers are equipped with multiple rollers on their gripping parts.

8. A method for detecting the entry angle of a submarine cable, applied to the submarine cable entry angle detection device as described in any one of claims 1-7, characterized in that, Including the following steps: The submarine cable laying device is fixed at a predetermined position on the cable-laying vessel, and the submarine cable is passed through the submarine cable laying device. The inclination information obtained by the inclinometer in the submarine cable laying device, which is always parallel to the cable-laying vessel, is collected according to a preset period, and the angle information between the submarine cable and the inclinometer is also collected. The entry angle of the submarine cable is obtained based on the tilt angle information and the included angle information: θ = 180° - β + α; Where θ represents the entry angle, α represents the tilt angle, and β represents the included angle.

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