Submarine cable laying control methods and systems during emergency braking and restarting.

Abstract

This invention relates to the field of submarine cable laying technology, specifically disclosing a submarine cable laying control method and system during emergency braking and restarting after braking. When the cable-laying vessel continues to move forward due to inertia after braking, the system controls the laying plow to travel along the original route for normal laying work, maintaining a laying speed V. L With V C The cable-laying speed is kept constant, and the cable-laying speed is adjusted in real time to maintain a constant cable tension until the cable-laying vessel comes to a complete stop. Then, the burial plow stops laying the cable. When restarting after braking, the positions of the cable-laying vessel and the burial plow are obtained, and the route and speed V2 of the cable-laying vessel to the preset cable-laying path are planned. Then, the cable-laying vessel, cable-laying device, and burial plow are started simultaneously. The burial plow moves at a constant speed according to the preset burial route and burial speed V1. The cable-laying speed of the cable-laying vessel remains sufficient to maintain the preset tension T of the cable at the burial plow inlet. e Adjustments are made in real time to the target, and the cable-laying vessel travels at a constant speed of V2 along the planned cable-laying route.

Description

Technical Field

[0001] This invention relates to the field of submarine cable laying technology, and in particular to a method and system for controlling submarine cable laying during emergency braking, and a method and system for controlling submarine cable laying during restart after emergency braking. Background Technology

[0002] Submarine cable engineering serves as a crucial transportation hub for various maritime activities. The development, utilization, and protection of marine resources have gradually become a necessary trend in national energy development, driving the development of multiple fields such as electrical engineering, communication engineering, mechanical engineering, and shipbuilding engineering, making it one of the world's most complex large-scale technical engineering projects. Submarine cable construction equipment is a necessary prerequisite for improving submarine cable engineering capabilities and utilizing marine resources. Promoting the development of construction equipment is an inevitable requirement for promoting the structural adjustment and transformation and upgrading of the marine equipment industry. During submarine cable laying, unexpected weather conditions such as storms and unforeseen circumstances may occur, requiring emergency braking of the cable laying process before resuming operations. Due to the uncontrolled movement and speed of the cable-laying vessel, cable-laying device, and burial plow during emergency braking and restarting, the submarine cable may experience rapid stretching, resulting in excessive tension and damage or destruction, or insufficient tension, leading to twisting or even knotting, affecting the normal laying of the cable. Summary of the Invention

[0003] This invention provides a method and system for controlling submarine cable laying during emergency braking and restarting after braking. The technical problem it solves is how to control the travel path and speed of the submarine cable ship, cable laying device, and laying plow during emergency braking and restarting after braking, so that the submarine cable tension is neither too high nor too low.

[0004] To solve the above technical problems, the present invention provides a method for controlling submarine cable laying during emergency braking, comprising the following steps:

[0005] S1. The cable ship takes braking measures;

[0006] S2, Real-time measurement of the speed V of the submarine cable ship C Control the burying plow to travel along the original route, and control the burying speed V of the burying plow. L With V C Maintain consistency; measure the tension T of the submarine cable at the point where the plow enters the plowshare in real time; so that the tension T of the submarine cable at the point where the plow enters the plowshare remains at the preset tension T. e To achieve the target, the cable-laying speed of the cable-laying vessel is adjusted in real time;

[0007] S3. Check if the speed of the cable-laying vessel is 0. If so, adjust the speed of the burying plow to 0 and the cable-laying speed of the cable-laying vessel to 0.

[0008] Further, in step S2, measuring the tension T of the submarine cable at the point where the plow enters the plowshare specifically includes the following steps:

[0009] S21. The angle change of the submarine cable at the point where the plow enters the plow mouth is measured and recorded as θ, and the pressure generated in the direction of angle deflection is recorded as F;

[0010] S22. Calculate the tension T of the submarine cable at the ploughing point based on θ and F: T = F / sinθ.

[0011] Further, in step S21, measuring θ includes the following steps:

[0012] S211. A contact-type angle sensor array is arranged around the submarine cable at the plowing point. The contact-type angle sensor array includes multiple angle sensors. These multiple angle sensors are arranged in a ring at equal intervals around the submarine cable at the plowing point. The installation position of these multiple angle sensors is such that when the submarine cable at the plowing point is at a preset angle, the passive end of each angle sensor is in contact with the submarine cable at the plowing point but without pressure. When the submarine cable at the plowing point deflects at an angle, the passive end of the angle sensor in the corresponding direction deflects at a corresponding angle due to the pressure caused by the deflection of the submarine cable.

[0013] S212. At preset time intervals, obtain the maximum angle measurement value of the angle sensor in the contact angle sensor array as θ.

[0014] Further, in step S21, measuring F includes the following steps:

[0015] S21A. A contact pressure sensor array is fixed on the burial plow. The contact pressure sensor array includes multiple pressure sensors. The multiple pressure sensors are arranged in a ring at equal intervals around the submarine cable at the plow inlet. The installation position of the multiple pressure sensors is such that when the submarine cable at the plow inlet is at a preset angle, the sensing end of each pressure sensor is in contact with the submarine cable at the plow inlet but without pressure.

[0016] S21B. At preset time intervals, obtain the maximum pressure measurement value of the pressure sensor with pressure output in the contact pressure sensor array as F.

[0017] Furthermore, in step S211, when multiple angle sensors are arranged, one end of each angle sensor is fixed to the inlet of the burial plow by a bracket, the bracket and the submarine cable at the inlet are installed horizontally, and the other end of each angle sensor, i.e. the passive end, is in contact with the submarine cable without pressure through a roller.

[0018] In step S21A, when multiple pressure sensors are arranged, one end of each pressure sensor is fixed to the inlet of the burial plow by a support, the support being perpendicular to the submarine cable at the inlet of the plow, and the other end of each pressure sensor, i.e. the sensing end, is in contact with the submarine cable without pressure through a ball bearing. A strain gauge is also provided between the ball bearing and the support.

[0019] Furthermore, in step S2, the tension T of the submarine cable at the point where the plow enters the plowshare is maintained at a preset tension T. e To achieve this goal, the cable-laying speed of the cable-laying vessel is adjusted in real time, specifically including:

[0020] Calculate the difference ΔT between the tension T and the preset tension;

[0021] The cable-laying speed of the cable-laying vessel is adjusted according to ΔT. If ΔT is greater than 0, the cable-laying speed of the cable-laying vessel is increased; if ΔT is less than 0, the cable-laying speed of the cable-laying vessel is decreased; if ΔT = 0, the cable-laying speed of the cable-laying vessel is not changed.

[0022] The present invention also provides a submarine cable laying control system for emergency braking, the key feature of which is: it includes a submarine cable ship speed measurement module and a cable laying control module that are interconnected, as well as an entry tension measurement module and a laying control module that are interconnected, wherein the cable laying control module and the laying control module are communicatively connected.

[0023] The cable ship speed measurement module is used to measure the speed V of the cable ship in real time after the cable ship takes braking measures. C ;

[0024] The laying control module is used to control the laying plow to travel along the original route after the cable-laying vessel takes braking measures, and to control the laying speed V of the laying plow. L With V C Maintain consistency;

[0025] The tension measurement module at the plow inlet is used to measure the tension T of the submarine cable at the plow inlet in real time after the cable ship takes braking measures.

[0026] The cable-laying control module is used to measure the tension T of the submarine cable at the point where the plough enters the plough cut in real time after the cable-laying vessel takes braking measures, and to maintain the tension T of the submarine cable at the point where the plough enters the plough cut at a preset tension T. e To achieve this goal, the cable-laying speed of the cable-laying vessel is adjusted in real time.

[0027] Specifically, the infeed tension measurement module includes a contact angle sensor array, a contact pressure sensor array, and a tension calculation unit;

[0028] The contact-type angle sensor array includes multiple angle sensors arranged in a ring at equal intervals around the submarine cable at the entry point of the plow. The installation positions of these angle sensors are such that when the submarine cable at the entry point is at a preset angle, the passive end of each angle sensor is in contact with the submarine cable at the entry point but without pressure. When the submarine cable at the entry point deflects at an angle, the passive end of the corresponding angle sensor deflects at a corresponding angle due to the pressure caused by the deflection of the submarine cable. The contact-type angle sensor array records the maximum angle measurement value of the angle sensor that deflects as θ.

[0029] The contact pressure sensor array includes multiple pressure sensors arranged in a ring at equal intervals around the submarine cable at the entry point of the plow. The installation position of the multiple pressure sensors is such that when the submarine cable at the entry point of the plow is at a preset angle, the sensing end of each pressure sensor is in contact with the submarine cable at the entry point of the plow but without pressure. The maximum pressure measurement value of the pressure sensor with pressure counting in the contact pressure sensor array is recorded as F.

[0030] The tension calculation unit is used to calculate the tension T of the submarine cable at the ploughing point based on the angle measurement value θ and the pressure measurement value F: T = F / sinθ.

[0031] This invention also provides a method for controlling submarine cable laying during restart after emergency braking, the key of which includes the following steps:

[0032] K1. Obtain the location of the offshore cable ship and the location of the burial plow before the start of operation;

[0033] K2. Based on the positions of the cable-laying vessel and the burial plow, plan the route and speed V2 for the cable-laying vessel to enter the predetermined cable-laying route. The value of V2 is such that when the cable-laying vessel just enters the predetermined cable-laying route, the horizontal distance between the cable-laying vessel and the burial plow is a predetermined distance L. e ;

[0034] K3. The cable-laying vessel, cable-laying device, and burying plow are started simultaneously. The burying plow moves at a constant speed V1 along the preset burying route. The cable-laying vessel moves at a constant speed V2 along the cable-laying route planned in step K2. The cable-laying speed of the cable-laying vessel is maintained at a speed sufficient to keep the tension T of the cable at the burying plow inlet at the preset tension T. e Adjustments are made in real time to the target; once the cable ship enters the preset cable laying route, the cable ship maintains a constant speed of V1.

[0035] The present invention also provides a submarine cable laying control system for starting after emergency braking, the key features of which are: a position measurement module, a submarine cable vessel control module, a plow inlet tension measurement module, and a burying plow control module;

[0036] The position measurement module is used to obtain the position of the offshore cable ship before startup and the position of the burying plow.

[0037] The cable-laying vessel control module is used to plan the route and speed V2 of the cable-laying vessel as it enters the preset cable-laying route based on the cable-laying vessel's position and the position of the burial plow. The value of V2 is such that when the cable-laying vessel just enters the preset cable-laying route, the horizontal distance between the cable-laying vessel and the burial plow is a preset distance L. e (Distance and tension are mutually restrictive);

[0038] The cable-laying vessel control module and the cable-laying plow control module are used to control the simultaneous start-up of the cable-laying vessel, the cable-laying device, and the cable-laying plow. The cable-laying plow moves at a constant speed according to the preset laying route and laying speed V1. The cable-laying vessel moves at a constant speed V2 according to the cable-laying route planned in step K2. The cable-laying speed of the cable-laying vessel is maintained at a speed sufficient to keep the tension T measured by the tension measurement module at the plow inlet at a preset tension T. e Adjustments are made in real time to the target; once the cable ship enters the preset cable laying route, the cable ship maintains a constant speed of V1.

[0039] The emergency braking control method and system for submarine cable laying provided by this invention controls the laying plow to continue normal laying work along the original route when the cable-laying vessel continues to move forward due to inertia after braking, while maintaining the laying speed V of the laying plow. L With V C The cable laying speed remains consistent. However, when the cable vessel deviates from its preset route, the horizontal distance between the cable vessel and the laying plow gradually increases, causing a change in cable tension. The cable laying speed is adjusted in real-time to maintain constant tension until the cable vessel comes to a complete stop, at which point the laying plow stops laying. Using this system and method, the laying plow can continue laying even in the event of an emergency, minimizing the distance between the cable vessel and the plow when the cable vessel is stationary. This prevents the cable from becoming too long in the water, causing twisting or knots that could affect subsequent laying. Furthermore, the constant tension laying process avoids damage or breakage caused by rapid stretching or contraction of the cable, ensuring normal cable laying throughout the emergency braking process.

[0040] This invention also provides a method and system for controlling submarine cable laying during emergency braking and restart. First, the position of the cable-laying vessel and the position of the laying plow are obtained before startup. Then, based on the positions of the cable-laying vessel and the laying plow, the route and speed V2 of the cable-laying vessel into the preset cable-laying path are planned. Next, the cable-laying vessel, the cable-laying device, and the laying plow are simultaneously started. The laying plow moves at a constant speed according to the preset laying route and laying speed V1. The cable-laying speed of the cable-laying vessel remains sufficient to maintain the tension T of the submarine cable at the plow inlet at the preset tension T. e To achieve the target, the cable-laying vessel makes real-time adjustments, proceeding along the cable-laying route planned in step K2 at a constant speed of V2. This ensures that when the cable-laying vessel first enters the preset cable-laying route, the horizontal distance between the cable-laying vessel and the burial plow is the preset distance L. e(At this time, the tension of the submarine cable at the ploughing point is also adjusted to the preset tension), and finally, the submarine cable ship and the ploughing plow are kept relatively stationary. By applying this system and method, cable damage or destruction caused by rapid stretching or contraction of the submarine cable can be avoided, ensuring the normal laying of the submarine cable during the entire emergency braking and restart process. Attached Figure Description

[0041] Figure 1 This is a flowchart of the submarine cable laying control method during emergency braking provided in an embodiment of the present invention;

[0042] Figure 2 This is a schematic diagram of the angle measurement principle provided in an embodiment of the present invention;

[0043] Figure 3 This is a schematic diagram of the pressure measurement principle provided in an embodiment of the present invention;

[0044] Figure 4 This is a flowchart of constant tension control of cable laying speed provided in an embodiment of the present invention;

[0045] Figure 5 This is a structural diagram of the plowshare tension measurement module provided in an embodiment of the present invention.

[0046] Reference numerals: 1-Contact angle sensor array, 11-Angle sensor, 111-Bracket, 112-Roller, 2-Contact pressure sensor array, 21-Pressure sensor, 211-Support, 212-Ball, 213-Strain gauge, 3-Tension calculation unit. Detailed Implementation

[0047] The embodiments of the present invention are described in detail below with reference to the accompanying drawings. The embodiments are given for illustrative purposes only and should not be construed as limiting the present invention. The accompanying drawings are for reference and illustration only and do not constitute a limitation on the scope of patent protection of the present invention, because many changes can be made to the present invention without departing from the spirit and scope of the present invention.

[0048] Example 1

[0049] The emergency braking control method for submarine cable laying provided in this embodiment of the invention, such as... Figure 1 As shown, the steps include:

[0050] S1. The cable ship takes braking measures;

[0051] S2, Real-time measurement of the speed V of the submarine cable ship C Control the burying plow to travel along the original route, and control the burying speed V of the burying plow. L With V C Maintain consistency; measure the tension T of the submarine cable at the point where the plow enters the plowshare in real time; so that the tension T of the submarine cable at the point where the plow enters the plowshare remains at the preset tension T.e To achieve the target, the cable-laying speed of the cable-laying vessel is adjusted in real time;

[0052] S3. Check if the speed of the cable-laying vessel is 0. If so, adjust the speed of the burying plow to 0 and the cable-laying speed of the cable-laying vessel to 0.

[0053] The emergency braking control method and system for submarine cable laying provided in this invention, when the submarine cable vessel continues to move forward due to inertia after braking, controls the laying plow to travel along the original route and carry out normal laying work, while maintaining the laying speed V of the laying plow. L With V C The cable laying speed remains consistent. However, when the cable vessel deviates from its preset route, the horizontal distance between the cable vessel and the laying plow gradually increases, causing a change in cable tension. The cable laying speed is adjusted in real-time to maintain constant tension until the cable vessel comes to a complete stop, at which point the laying plow stops laying. Using this system and method, the laying plow can continue laying even in the event of an emergency, minimizing the distance between the cable vessel and the plow when the cable vessel is stationary. This prevents the cable from becoming too long in the water, causing twisting or knots that could affect subsequent laying. Furthermore, the constant tension laying process avoids damage or breakage caused by rapid stretching or contraction of the cable, ensuring normal cable laying throughout the emergency braking process.

[0054] To accurately measure the tension of the submarine cable at the plough entry point, step S2 involves measuring the tension T of the submarine cable at the plough entry point, specifically including the following steps:

[0055] S21. The angle change of the submarine cable at the point where the plow enters the plow mouth is measured and recorded as θ, and the pressure generated in the direction of angle deflection is recorded as F;

[0056] S22. Calculate the tension T of the submarine cable at the ploughing point based on θ and F: T = F / sinθ.

[0057] refer to Figure 2 The diagram shown illustrates the principle of angle measurement. In step S21, measuring θ includes the following steps:

[0058] S211. A contact angle sensor array 1 is arranged around the submarine cable at the entry point of the plow. The contact angle sensor array 1 includes multiple angle sensors 11. The multiple angle sensors 11 are arranged in a ring at equal intervals around the submarine cable at the entry point of the plow. The installation position of the multiple angle sensors 11 is such that when the submarine cable at the entry point of the plow is at a preset angle, the passive end of each angle sensor 11 is in contact with the submarine cable at the entry point of the plow but without pressure. When the submarine cable at the entry point of the plow deflects at an angle, the passive end of the angle sensor 11 in the corresponding direction deflects at a corresponding angle due to the pressure caused by the deflection of the submarine cable.

[0059] S212. The maximum angle measurement value of the middle angle sensor 11 of the contact angle sensor array 1 is obtained as θ at preset time intervals. In order to ensure measurement accuracy, when the cable deflects, at least 2 angle sensors 11 are set to deflect accordingly (8 in this embodiment).

[0060] In step S21, refer to Figure 2 When multiple angle sensors 11 are arranged, one end of each angle sensor 11 is fixed to the inlet of the burial plow by a bracket 111. The bracket 111 and the submarine cable at the inlet of the plow are installed horizontally, while the other end of each angle sensor 11, i.e. the passive end, is in contact with the submarine cable without pressure through a roller 112.

[0061] In step S21, refer to Figure 3 The pressure measurement principle diagram shown includes the following steps for measuring F:

[0062] S21A, A contact pressure sensor array 2 (such as) is fixed on the burial plow. Figure 1 As shown), the contact pressure sensor array 2 includes multiple pressure sensors 21, which are arranged in a ring at equal intervals around the submarine cable at the plowing opening. The installation position of the multiple pressure sensors 21 is such that when the submarine cable at the plowing opening is at a preset angle, the sensing end of each pressure sensor 21 is in contact with the submarine cable at the plowing opening but without pressure.

[0063] S21B: At preset time intervals, the maximum pressure measurement value of the pressure sensor 21 with pressure output in the contact pressure sensor array 2 is obtained as F. To ensure measurement accuracy, when the cable deflects, at least 4 pressure sensors 21 with counting are set (8 in this embodiment). The number of angle sensors 11 is the same as the number of pressure sensors 21, and they are arranged side by side to ensure the correspondence between pressure and angle.

[0064] In step S21A, refer to Figure 3 When multiple pressure sensors 21 are arranged, one end of each pressure sensor 21 is fixed to the inlet of the burial plow via a support 211, with the support 211 perpendicular to the submarine cable at the inlet. The other end of each pressure sensor 21, i.e., the sensing end, is in contact with the submarine cable without pressure via a ball bearing 212. A strain gauge 213 is also installed between the ball bearing 212 and the support 211. In this way, the pressure borne by the ball bearing 212 is transferred to the strain gauge 213, and the corresponding pressure value is further measured by the strain gauge 213.

[0065] The tension measurement method for the submersible cable entering the burial plow in this embodiment of the invention calculates the tension T of the cable at the burial plow in real time by measuring the change in angle θ of the cable at the burial plow entry point and the pressure F generated in the direction of angle deflection. This allows for real-time adjustment of the cable release speed based on the tension T, thereby maintaining a constant tension. This tension measurement method uses a contact angle sensor array 1 and a contact pressure sensor array 2 to measure θ and F respectively. Both the contact angle sensor array 1 and the contact pressure sensor array 2 consist of multiple angle sensors 11 or pressure sensors 21, and these sensors are specially arranged according to the structure of the submersible cable and the burial plow, resulting in fast, accurate, and highly precise measurement results.

[0066] In step S2, as Figure 4 As shown, this is to ensure that the tension T of the submarine cable at the point where the plow enters the plowshare remains at a preset tension T. e To achieve this goal, the cable-laying speed of the cable-laying vessel is adjusted in real time, specifically including:

[0067] Calculate the difference ΔT between the tension T and the preset tension;

[0068] The cable-laying speed of the cable-laying vessel is adjusted according to ΔT. If ΔT is greater than 0, the cable-laying speed of the cable-laying vessel is increased; if ΔT is less than 0, the cable-laying speed of the cable-laying vessel is decreased; if ΔT = 0, the cable-laying speed of the cable-laying vessel is not changed.

[0069] Example 2

[0070] Corresponding to the method shown in Embodiment 1 above, this embodiment of the invention provides a submarine cable laying control system for emergency braking, including a submarine cable ship speed measurement module and a cable laying control module that are interconnected, as well as a plowing tension measurement module and a burial control module that are interconnected. The cable laying control module and the burial control module are communicatively connected.

[0071] The cable ship speed measurement module is used to measure the cable ship's speed V in real time after the cable ship takes braking measures. C ;

[0072] The laying control module is used to control the laying plow to travel along the original route after the cable-laying vessel takes braking measures, and to control the laying speed V of the laying plow. L With V C Maintain consistency;

[0073] The tension measurement module at the plow inlet is used to measure the tension T of the submarine cable at the plow inlet in real time after the cable ship takes braking measures.

[0074] The cable laying control module is used to measure the tension T of the submarine cable at the point where the cable-laying plow enters the plowshare in real time after the cable-laying vessel takes braking measures, and to maintain the tension T of the submarine cable at the point where the plow enters the plowshare at a preset tension T. eTo achieve this goal, the cable-laying speed of the cable-laying vessel is adjusted in real time.

[0075] Specifically, such as Figure 5 As shown in the structural diagram, the infeed tension measurement module includes a contact angle sensor array 1, a contact pressure sensor array 2, and a tension calculation unit 3.

[0076] like Figure 2 As shown, the contact angle sensor array 1 includes multiple angle sensors 11, which are arranged in a ring at equal intervals around the submarine cable at the entry point of the ploughing. The installation position of the multiple angle sensors 11 is such that when the submarine cable at the entry point of the ploughing is at a preset angle, the passive end of each angle sensor 11 is in contact with the submarine cable at the entry point of the ploughing but without pressure. When the submarine cable at the entry point of the ploughing deflects at an angle, the passive end of the angle sensor 11 in the corresponding direction deflects at a corresponding angle due to the pressure caused by the deflection of the submarine cable. The contact angle sensor array 1 records the maximum angle measurement value of the angle sensor 11 that deflects as θ.

[0077] like Figure 3 As shown, the contact pressure sensor array 2 includes multiple pressure sensors 21, which are arranged in a ring at equal intervals around the submarine cable at the entry point of the plow. The installation position of the multiple pressure sensors 21 is such that when the submarine cable at the entry point of the plow is at a preset angle, the sensing end of each pressure sensor 21 is in contact with the submarine cable at the entry point of the plow but without pressure. The maximum pressure measurement value of the pressure sensor 21 with pressure counting is recorded as F.

[0078] Tension calculation unit 3 is used to calculate the tension T of the submarine cable at the inlet of the ploughing point based on the angle measurement value θ and the pressure measurement value F. The calculation formula is: T=F / sinθ.

[0079] The submarine cable laying control system provided in this embodiment is a corresponding system and method to the submarine cable laying control method provided in Embodiment 1, and the effects achieved are the same. It will not be described again here. This embodiment focuses on the protection of each module that can realize each step in the method, starting from the product.

[0080] Example 3

[0081] This embodiment provides a method for controlling submarine cable laying during restart after emergency braking, including the following steps:

[0082] K1. Obtain the location of the offshore cable ship and the location of the burial plow before the start of operation;

[0083] K2. Based on the positions of the cable-laying vessel and the burial plow, plan the route and speed V2 for the cable-laying vessel to enter the predetermined cable-laying route. The value of V2 is such that when the cable-laying vessel just enters the predetermined cable-laying route, the horizontal distance between the cable-laying vessel and the burial plow is a predetermined distance L.e ;

[0084] K3. The cable-laying vessel, cable-laying device, and burying plow are started simultaneously. The burying plow moves at a constant speed V1 along the preset burying route. The cable-laying vessel moves at a constant speed V2 along the cable-laying route planned in step K2. The cable-laying speed of the cable-laying vessel is maintained at a speed sufficient to keep the tension T of the cable at the burying plow inlet at the preset tension T. e Adjustments are made in real time to the target; once the cable ship enters the preset cable laying route, the cable ship maintains a constant speed of V1.

[0085] In this method, the specific implementation of measuring the tension T of the submarine cable at the burial plow entry point is the same as in Example 1, and the specific implementation of adjusting the cable release speed of the submarine cable ship with constant tension is also the same as in Example 1.

[0086] This invention provides a method for controlling submarine cable laying during emergency braking followed by restarting. First, the positions of the cable-laying vessel and the laying plow before restarting are obtained. Then, based on the positions of the cable-laying vessel and the laying plow, a route and speed V2 for the cable-laying vessel to enter a preset laying path are planned. Next, the cable-laying vessel, the cable-laying device, and the laying plow are simultaneously started. The laying plow moves at a constant speed according to a preset laying path and speed V1. The cable-laying speed of the cable-laying vessel remains sufficient to maintain a preset tension T on the cable at the plow inlet. e To achieve the target, the cable-laying vessel makes real-time adjustments, proceeding along the cable-laying route planned in step K2 at a constant speed of V2. This ensures that when the cable-laying vessel first enters the preset cable-laying route, the horizontal distance between the cable-laying vessel and the burial plow is the preset distance L. e (At this point, the tension of the submarine cable at the ploughing point is also the preset tension), and finally, the submarine cable ship and the ploughing plow are kept relatively stationary. By applying this system and method, cable damage or destruction caused by rapid stretching or contraction of the submarine cable can be avoided, ensuring the normal laying of the submarine cable during the entire emergency braking and restart process.

[0087] Example 4

[0088] This invention provides a submarine cable laying control system for starting after emergency braking, including a position measurement module, a submarine cable vessel control module, a plow inlet tension measurement module, and a burying plow control module;

[0089] The position measurement module is used to obtain the position of the offshore cable ship and the position of the burying plow before the start of the operation;

[0090] The cable-laying vessel control module plans the route and speed V2 of the cable-laying vessel into the preset cable-laying path based on the cable-laying vessel's position and the position of the burial plow. The value of V2 ensures that when the cable-laying vessel first enters the preset cable-laying path, the horizontal distance between the cable-laying vessel and the burial plow is a preset distance L. e ;

[0091] The cable-laying vessel control module and the cable-laying plow control module are used to control the simultaneous start-up of the cable-laying vessel, the cable-laying device, and the cable-laying plow. The cable-laying plow moves at a constant speed V1 along the preset laying route. The cable-laying vessel moves at a constant speed V2 along the cable-laying route planned in step K2. The cable-laying speed of the cable-laying vessel is maintained such that the tension T measured by the tension measurement module at the plow inlet remains at the preset tension T. e Adjustments are made in real time to the target; once the cable ship enters the preset cable laying route, the cable ship maintains a constant speed of V1.

[0092] The infeed tension measurement module in this embodiment is the same as the infeed tension measurement module in embodiment 2.

[0093] The submarine cable laying control system provided in this embodiment of the invention and the submarine cable laying control method provided in Embodiment 3 are corresponding systems and methods, and achieve the same effect. They will not be described again here. This embodiment focuses on the protection of each module that can realize each step in the method, starting from the product.

[0094] The above embodiments are preferred embodiments of the present invention, but the embodiments of the present invention are not limited to the above embodiments. Any changes, modifications, substitutions, combinations, or simplifications made without departing from the spirit and principle of the present invention shall be considered equivalent substitutions and shall be included within the protection scope of the present invention.

Claims

1. A method for controlling submarine cable laying during emergency braking, characterized in that, Including the following steps: S1. The cable ship takes braking measures; S2. Real-time measurement of the speed of the submarine cable ship. V C Control the burying plow to travel along the original route and control the burying speed of the burying plow. V L and V C Maintain consistency; measure the tension of the submarine cable at the point where the plow enters the plowshare in real time. T ; so that the tension of the submarine cable at the point where the plow enters the plowshare is achieved. T Maintain preset tension T e To achieve the target, the cable-laying speed of the cable-laying vessel is adjusted in real time; Measure the tension of the submarine cable at the point where the plow enters the plowshare. T The specific steps include: S21. The angle change of the submarine cable at the point where the plough enters the plough's mouth is measured and recorded as follows: θ And the pressure generated in the direction of angular deflection is denoted as F; S22, according to θ And calculate the tension T of the submarine cable at the ploughing point: T=F / sin θ ; In step S21, measurement θ Including the following steps: S211. A contact angle sensor array (1) is arranged around the submarine cable at the plowing point. The contact angle sensor array (1) includes multiple angle sensors (11). The multiple angle sensors (11) are arranged in a ring at equal intervals around the submarine cable at the plowing point. The installation position of the multiple angle sensors (11) is such that when the submarine cable at the plowing point is at a preset angle, the passive end of each angle sensor (11) is in contact with the submarine cable at the plowing point but without pressure. When the submarine cable at the plowing point deflects at an angle, the passive end of the angle sensor (11) in the corresponding direction deflects at a corresponding angle due to the pressure caused by the deflection of the submarine cable. S212. At preset time intervals, the maximum angle measurement value of the angle sensor (11) in the contact angle sensor array (1) is obtained as... θ ; In step S21, measuring F includes the following steps: S21A. A contact pressure sensor array (2) is fixed on the burial plow. The contact pressure sensor array (2) includes multiple pressure sensors (21). The multiple pressure sensors (21) are arranged in a ring at equal intervals around the submarine cable at the plow inlet. The installation position of the multiple pressure sensors (21) is such that when the submarine cable at the plow inlet is at a preset angle, the sensing end of each pressure sensor (21) is in contact with the submarine cable at the plow inlet but without pressure. S21B. The maximum pressure measurement value of the pressure sensor (21) with pressure output in the contact pressure sensor array (2) is obtained as F every preset time period; S3. Check if the speed of the cable-laying vessel is 0. If so, adjust the speed of the burying plow to 0 and the cable-laying speed of the cable-laying vessel to 0.

2. The method for controlling submarine cable laying during emergency braking according to claim 1, characterized in that: In step S211, when multiple angle sensors (11) are arranged, one end of each angle sensor (11) is fixed to the inlet of the burial plow by a bracket (111). The bracket (111) is installed horizontally with the submarine cable at the inlet of the plow, while the other end of each angle sensor (11), i.e. the passive end, is in contact with the submarine cable without pressure through a roller (112). In step S21A, when multiple pressure sensors (21) are arranged, one end of each pressure sensor (21) is fixed to the inlet of the buried plow by a support (211). The support (211) is perpendicular to the submarine cable at the inlet of the plow, while the other end of each pressure sensor (21), i.e. the sensing end, is in contact with the submarine cable without pressure through a ball (212). A strain gauge (213) is also provided between the ball (212) and the support (211).

3. The method for controlling submarine cable laying during emergency braking according to claim 1, characterized in that, In step S2, the tension of the submarine cable at the point where the plow enters the plowshare is achieved. T Maintain preset tension T e To achieve this goal, the cable-laying speed of the cable-laying vessel is adjusted in real time, specifically including: Calculate the difference ΔT between the tension T and the preset tension; The cable-laying speed of the cable-laying vessel is adjusted according to ΔT. If ΔT is greater than 0, the cable-laying speed of the cable-laying vessel is increased; if ΔT is less than 0, the cable-laying speed of the cable-laying vessel is decreased; if ΔT = 0, the cable-laying speed of the cable-laying vessel is not changed.

4. A submarine cable laying control system for emergency braking, characterized in that: It includes an interconnected submarine cable vessel speed measurement module and a cable laying control module, as well as an interconnected entry tension measurement module and a burial control module, wherein the cable laying control module and the burial control module are communicatively connected. The cable ship speed measurement module is used to measure the speed of the cable ship in real time after the cable ship takes braking measures. V C ; The laying control module is used to control the laying plow to travel along the original route and control the laying speed of the laying plow after the cable ship takes braking measures. V L and V C Maintain consistency; The tension measurement module at the ploughing inlet is used to measure the tension of the submarine cable at the ploughing inlet in real time after the cable-laying vessel takes braking measures. T ; The cable-laying control module is used to measure the tension of the submarine cable at the point where the plough cuts after the cable-laying vessel applies braking measures. T And to ensure the tension of the submarine cable at the point where the plow enters the plowshare. T Maintain preset tension T e To achieve the target, the cable-laying speed of the cable-laying vessel is adjusted in real time; The plowing inlet tension measurement module includes a contact angle sensor array (1), a contact pressure sensor array (2), and a tension calculation unit (3). The contact angle sensor array (1) includes multiple angle sensors (11) arranged in a ring at equal intervals around the submarine cable at the entry point. The installation positions of the multiple angle sensors (11) ensure that when the submarine cable at the entry point is at a preset angle, the passive end of each angle sensor (11) is in contact with the submarine cable at the entry point but without pressure. When the submarine cable at the entry point deflects at an angle, the passive end of the corresponding angle sensor (11) deflects at a corresponding angle due to the pressure caused by the cable deflection. The contact angle sensor array (1) records the maximum angle measurement value of the deflected angle sensor (11) as... θ ; The contact pressure sensor array (2) includes multiple pressure sensors (21), which are arranged in a ring at equal intervals around the submarine cable at the entry point of the plow. The installation position of the multiple pressure sensors (21) is such that when the submarine cable at the entry point of the plow is at a preset angle, the sensing end of each pressure sensor (21) is in contact with the submarine cable at the entry point of the plow but without pressure. The contact pressure sensor array (2) records the maximum pressure measurement value of the pressure sensor (21) with pressure counting as F. The tension calculation unit (3) is used to calculate the tension based on the tension calculation unit (3) according to ... θ And calculate the tension T of the submarine cable at the ploughing point: T=F / sin θ .

5. A method for controlling submarine cable laying during restart after emergency braking, characterized in that, Including the following steps: K1. Obtain the location of the offshore cable ship and the location of the burial plow before the start of operation; K2. Based on the positions of the cable-laying vessel and the burial plow, plan the route and speed V2 for the cable-laying vessel to enter the predetermined cable-laying route. The value of V2 is such that when the cable-laying vessel just enters the predetermined cable-laying route, the horizontal distance between the cable-laying vessel and the burial plow is a predetermined distance. L e ; K3. The cable-laying vessel, cable-laying device, and burying plow are started simultaneously. The burying plow moves at a constant speed V1 along the preset burying route. The cable-laying vessel moves at a constant speed V2 along the cable-laying route planned in step K2. The cable-laying speed of the cable-laying vessel is still sufficient to maintain the tension of the cable at the burying plow's entry point. T Maintain preset tension T e Make real-time adjustments to the target; after the cable ship enters the preset cable laying route, the cable ship maintains a constant speed of V1. Measure the tension of the submarine cable at the point where the plow enters the plowshare. T The specific steps include: S21. The angle change of the submarine cable at the point where the plough enters the plough's mouth is measured and recorded as follows: θ And the pressure generated in the direction of angular deflection is denoted as F; S22, according to θ And calculate the tension T of the submarine cable at the ploughing point: T=F / sin θ ; In step S21, measurement θ Including the following steps: S211. A contact angle sensor array (1) is arranged around the submarine cable at the plowing point. The contact angle sensor array (1) includes multiple angle sensors (11). The multiple angle sensors (11) are arranged in a ring at equal intervals around the submarine cable at the plowing point. The installation position of the multiple angle sensors (11) is such that when the submarine cable at the plowing point is at a preset angle, the passive end of each angle sensor (11) is in contact with the submarine cable at the plowing point but without pressure. When the submarine cable at the plowing point deflects at an angle, the passive end of the angle sensor (11) in the corresponding direction deflects at a corresponding angle due to the pressure caused by the deflection of the submarine cable. S212. At preset time intervals, the maximum angle measurement value of the angle sensor (11) in the contact angle sensor array (1) is obtained as... θ ; In step S21, measuring F includes the following steps: S21A. A contact pressure sensor array (2) is fixed on the burial plow. The contact pressure sensor array (2) includes multiple pressure sensors (21). The multiple pressure sensors (21) are arranged in a ring at equal intervals around the submarine cable at the plow inlet. The installation position of the multiple pressure sensors (21) is such that when the submarine cable at the plow inlet is at a preset angle, the sensing end of each pressure sensor (21) is in contact with the submarine cable at the plow inlet but without pressure. S21B. The maximum pressure measurement value of the pressure sensor (21) with pressure output in the contact pressure sensor array (2) is obtained as F every preset time period.

6. A submarine cable laying control system for restarting after emergency braking, characterized in that: Includes a position measurement module, a cable ship control module, a plow inlet tension measurement module, and a burying plow control module; The position measurement module is used to obtain the position of the offshore cable ship before startup and the position of the burying plow. The cable-laying vessel control module is used to plan the route and speed V2 of the cable-laying vessel as it enters the preset cable-laying route based on the cable-laying vessel's position and the position of the burial plow. The value of V2 is such that when the cable-laying vessel just enters the preset cable-laying route, the horizontal distance between the cable-laying vessel and the burial plow is a preset distance. L e ; The cable-laying vessel control module and the cable-laying plow control module are used to control the simultaneous start-up of the cable-laying vessel, the cable-laying device, and the cable-laying plow. The cable-laying plow moves at a constant speed according to the preset laying route and laying speed V1. The cable-laying vessel moves at a constant speed V2 according to the cable-laying route planned in step K2. The cable-laying speed of the cable-laying vessel is still sufficient to ensure that the tension measured by the tension measuring module at the plow inlet is within acceptable limits. T Maintain preset tension T e Make real-time adjustments to the target; after the cable ship enters the preset cable laying route, the cable ship maintains a constant speed of V1. The plowing tension measurement module is the plowing tension measurement module of the submarine cable laying control system in emergency braking as described in claim 4.

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