UUV (Unmanned Underwater Vehicle) device for laying micro optical cable underwater

Abstract

The invention belongs to the technical field of underwater unmanned underwater vehicles, and particularly relates to a UUV (Unmanned Underwater Vehicle) device for laying micro optical cables underwater. The underwater robot is compact and reasonable in structure, light in weight, high in strength and small in working resistance, snorkeling, advancing, retreating and yawing actions are executed underwater through the multiple sets of ducted propellers installed on the whole body, a Pixhawk controller and a Raspberry Pi are integrated in an internal electronic cavity, an underwater searchlight and a camera are matched, a neural network PID control algorithm is adopted, and the underwater robot is more stable in performance. In the autonomous laying process of the underwater micro optical cable, the control module obtains the tension detected by the three-axis tension sensor and adjusts the rotating speed output by the waterproof motor in real time, so that the tension fluctuation of the micro optical cable in the underwater laying process is controlled within + / -2%, the loss of the optical cable is reduced to be within 0.5 dB / km, and the constant tension control of the micro optical cable in the underwater laying process can be realized.

Description

Technical Field

[0001] The invention belongs to the technical field of underwater unmanned submersibles, and in particular relates to a UUV device for laying micro optical cables underwater. Background Art

[0002] In the existing underwater optical cable laying technology, large equipment is usually used for operation. Although these equipments are powerful, they are bulky, expensive to manufacture and maintain, and complex to operate, requiring professional personnel to operate. Due to the large size and heavy weight of the equipment, the process of laying optical cables often becomes very difficult and unstable in narrow and complex underwater environments, especially in areas with strong currents or complex terrain. In addition, the high energy consumption of such equipment limits its endurance, which is not conducive to long-term deep-sea operations.

[0003] Existing underwater optical cable laying equipment also has problems such as complicated operation procedures and inconvenience in rapid deployment and adjustment. When laying optical cables, it is usually necessary to go through tedious debugging and calibration, which not only increases the operation time, but also increases the risk of errors. In addition, since traditional equipment has high requirements for the operating environment, once encountering emergencies or environmental changes, the stability and reliability of the equipment are often difficult to guarantee. Summary of the invention

[0004] The object of the present invention is to provide a UUV device for underwater laying of fine optical cables.

[0005] A UUV device for underwater deployment of fine optical cables, comprising a UUV shell and an underwater fine optical cable autonomous deployment device installed under the UUV shell; the UUV shell is equipped with multiple groups of ducted thrusters to enable the UUV to perform snorkeling, advance and retreat, and yaw actions underwater; an electronic cavity is embedded in the UUV shell, a Pixhawk controller and a Raspberry Pi are integrated in the electronic cavity, an underwater searchlight and a camera are installed at the front end of the UUV shell, and a buoyancy material is filled inside the UUV shell to adjust the weight parameters; the underwater fine optical cable autonomous deployment device comprises a waterproof The waterproof cabin comprises a power supply module and a control module; the bottom plate is located below the waterproof cabin, and a cable storage mechanism, a three-axis tension sensor and a wire outlet guide wheel are provided on the bottom plate; one end of the cable storage mechanism is connected to the output end of the waterproof motor through a coupling, and a micro-optical cable reel is wound on the cable storage mechanism; the free end of the micro-optical cable reel extends out through a first wire outlet guide wheel installed on the bottom plate, and after passing through three sets of pulleys on the three-axis tension sensor in turn, it extends into the micro-optical cable laying output end through the second wire outlet guide wheel, and a cutting device is provided at the micro-optical cable laying output end.

[0006] Furthermore, a hemispherical sealed hatch cover is provided at the front end of the waterproof cabin, a disc-shaped sealed hatch cover is provided at the rear end, and sealing rings are provided at the connection between the front and rear sealed hatch covers and the waterproof cabin body.

[0007] Furthermore, the disc-shaped sealed hatch cover is provided with a plurality of sets of threading bolts, and the cables of the power module and the control module in the waterproof cabin are connected with the three-axis tension sensor, the waterproof motor and the cutting device through the threading bolts.

[0008] Furthermore, the waterproof motor is installed on the base plate through a support member, which makes the longitudinal position of the waterproof motor flush with the cable storage mechanism, making it easy to connect the output end of the waterproof motor with the cable storage mechanism. The waterproof motor is connected to the waterproof encoder through a coupling, and the speed is closed-loop controlled.

[0009] Furthermore, the front end and the rear end of the waterproof cabin are respectively connected to the bottom plate through U-shaped connecting pieces.

[0010] Furthermore, the control module adopts a neural network PID control algorithm for constant tension control of the micro-optical cable during underwater laying; during the autonomous laying of the underwater micro-optical cable, the control module obtains the tension detected by the three-axis tension sensor, and adjusts the speed output by the waterproof motor in real time, so that the tension fluctuation of the micro-optical cable during underwater laying is controlled within ±2%, and the optical cable loss is reduced to within 0.5dB / km.

[0011] Furthermore, the specific method of using the neural network PID control algorithm for constant tension control of the micro optical cable during underwater deployment is as follows: training the data set obtained through pre-simulation and experiment in the host computer, and establishing a coupling dynamic analysis model of UUV-micro optical cable-underwater micro optical cable autonomous deployment device; deploying the neural network algorithm in the host computer, the control module communicates with the host computer, receives the host computer calculation parameters, and adjusts the output speed of the micro optical cable by adjusting the output speed of the waterproof motor;

[0012] The measured value of the three-axis tension sensor is converted into a DC voltage PV(t) of a standard range, and then converted into a feedback value PV(n) in a linear ratio using an analog input module. n represents the sampling time when the analog quantity is converted into a digital quantity. PV(n) and the tension setting value SP(n) are used as input quantities for PID control operation. The incomplete differential PID and anti-integral saturation improved control algorithm are used to perform weighted operations on the proportional action and the differential action. The calculation formula is:

[0013]

[0014] Among them, y is the output value of the PID controller, that is, the PWM pulse width modulation output value used to adjust the speed of the waterproof motor; s is the Laplace operator; c is the integral weight; a is the integral delay coefficient; b is the proportional action weight; T I is the integral action time; T D is the differential action time.

[0015] Furthermore, the underwater micro-optical cable autonomous laying device is installed under the UUV shell through a U-shaped mounting plate, and the annular part of the U-shaped mounting plate is mounted in the middle of the waterproof cabin.

[0016] Furthermore, the specific steps for UUV to perform autonomous deployment of underwater micro-optical cables are as follows:

[0017] Step 1: Check whether the UUV and the underwater micro-cable autonomous deployment device are working properly; the shore control end detects whether the video stream transmission is normal and clear, and whether the control signal is successfully transmitted;

[0018] Step 2: The onshore control terminal sends the mission information, and the UUV moves to the specified starting point. The inertial measurement unit and depth sensor in the Pixhawk controller monitor the attitude and depth of the UUV in real time to ensure that the UUV is stable at the target water depth.

[0019] Step 3: Start the underwater micro-cable autonomous deployment device, and the UUV moves accordingly; the Pixhawk controller controls the ducted thrusters around the UUV through PWM signals based on the real-time feedback of depth and attitude data, to achieve stable forward movement and attitude adjustment of the UUV;

[0020] The control module of the underwater micro-optical cable autonomous laying device monitors the tension fed back by the three-axis tension sensor in real time and adjusts the speed output by the waterproof motor to control the tension fluctuation of the micro-optical cable within ±2% during the underwater laying process.

[0021] The camera collects images and videos of the underwater environment in real time. The onshore control end monitors the deployment process of the UUV and changes in the surrounding environment based on the real-time video stream transmitted by the Raspberry Pi, ensuring that the fine optical cable will not be disturbed by the outside world during the deployment process.

[0022] Step 4: After completing the underwater micro-optical cable laying task, the cutting device of the underwater micro-optical cable autonomous laying device performs cutting, and the UUV floats up for recovery.

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

[0024] The UUV device for underwater deployment of fine optical cables provided by the present invention has a compact and reasonable structure, and is light in weight, high in strength, and low in working resistance. Through multiple groups of ducted thrusters installed around the body, snorkeling, advance and retreat, and yaw actions can be performed underwater. A Pixhawk controller and a Raspberry Pi are integrated in the internal electronic cavity. In conjunction with an underwater searchlight and a camera, a neural network PID control algorithm is adopted. During the autonomous deployment of the underwater fine optical cable, the control module obtains the tension detected by the three-axis tension sensor, and adjusts the speed output by the waterproof motor in real time, so that the tension fluctuation of the fine optical cable during the underwater deployment is controlled within ±2%, and the optical cable loss is reduced to within 0.5dB / km, so that constant tension control of the fine optical cable during underwater deployment can be achieved. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a schematic diagram of the autonomous deployment device for underwater micro optical cables in the present invention.

[0026] Figure 2 It is a schematic diagram of a UUV device used for underwater deployment of micro optical cables in the present invention.

[0027] Figure 3 It is a cross-sectional view of a UUV device used for underwater deployment of fine optical cables in the present invention. DETAILED DESCRIPTION

[0028] The present invention is further described below in conjunction with the accompanying drawings.

[0029] The existing technology has the main defects of large equipment, high cost, complex operation, poor environmental adaptability and high energy consumption in the laying of underwater optical cables. These problems seriously restrict the efficiency and operation quality of underwater optical cable laying. In view of these problems, the present invention proposes a UUV device for underwater laying of fine optical cables, which effectively solves the above-mentioned defects in the existing technology through compact design, application of economical components, simplified operation process, improved environmental adaptability and reduced energy consumption, and completes complex underwater operations more accurately through real-time and clear return images.

[0030] The design of underwater wiring devices first considers compact and reasonable structures, light weight, high strength, and low working resistance, making them suitable for operation on underwater submersibles. The mathematical model of the force on micro optical cables is established through the finite element method to study the key force conditions during the laying process. The forces on micro optical cables at different water flow speeds and different laying angles are simulated and analyzed to optimize the laying path and speed control strategy of micro optical cables. The optimized laying path and speed control strategy can effectively reduce the force fluctuations on the optical cables during the laying process and ensure the stable laying of optical cables in complex terrain.

[0031] Soildworks software was used for part modeling and assembly to complete the overall structural design of the prototype of the constant tension pay-off device. The prototype design is compact and reasonable, and the various components work together to achieve constant tension laying of micro-optical cables. The UUV-micro-optical cable-underwater micro-optical cable autonomous laying device coupling operation was simulated and analyzed, and its motion state was debugged to ensure constant tension laying and meet the expected laying requirements. The simulation analysis includes the motion state of the UUV at different depths and different flow rates and its impact on the laying of optical cables.

[0032] First, it is necessary to collect various data related to the cable laying process, including cable tension data, environmental data (such as water flow speed, water flow direction, seabed topography, etc.), cable deformation and loss data, and external interference data (such as ocean waves, eddies, etc.). After collecting the above data, the next step is to process the data and perform simulation analysis; the collected data is filtered and denoised to eliminate unnecessary noise interference, and then input into the multi-physics coupling simulation model, which includes a fluid dynamics model (describing the effect of ocean currents on optical cables and AUVs), a structural mechanics model (describing the tension and bending of optical cables), and an electromagnetic field model (describing the signal loss of optical cables). The simulation results will show the tension distribution, deformation, and its impact on optical signal loss during the cable laying process under different sea conditions.

[0033] like Figure 1 As shown, the underwater micro-optical cable autonomous laying device provided by the present invention comprises a waterproof cabin and a bottom plate; a power module and a control module are arranged inside the waterproof cabin; the bottom plate is located below the waterproof cabin, and a cable storage mechanism, a three-axis tension sensor and a line outlet guide wheel are arranged on the bottom plate; one end of the cable storage mechanism is connected to the output end of the waterproof motor through a coupling, and a micro-optical cable reel is wound on the cable storage mechanism; the free end of the micro-optical cable reel extends out through a first line outlet guide wheel installed on the bottom plate, and after successively bypassing three sets of pulleys on the three-axis tension sensor, it extends into the micro-optical cable laying output end through a second line outlet guide wheel, and a cutting device is arranged at the micro-optical cable laying output end.

[0034] A hemispherical sealed hatch cover is provided at the front end of the waterproof cabin, and a disc-shaped sealed hatch cover is provided at the rear end, and sealing rings are provided at the connections between the front and rear sealed hatch covers and the main body of the waterproof cabin; multiple sets of threading bolts are provided on the disc-shaped sealed hatch cover, and the cables of the power module and the control module in the waterproof cabin are connected with the three-axis tension sensor, the waterproof motor and the cutting device through the threading bolts; the waterproof motor is installed on the base plate through the support, and the support makes the longitudinal position of the waterproof motor flush with the cable storage mechanism, which is convenient for the output end of the waterproof motor to be connected to the cable storage mechanism, and the waterproof motor is connected to the waterproof encoder through a coupling, and the speed is closed-loop controlled; the front and rear ends of the waterproof cabin are connected to the base plate through U-shaped connectors respectively.

[0035] The waterproof motor controls the speed of the micro-optical cable retracting and releasing according to the signal of the control module, so as to realize the winding or releasing of the micro-optical cable on the reel. The three-axis tension sensor is used to detect the tension of the micro-optical cable during retraction and release, and judge whether the micro-optical cable is in an over-tensioned or loose state. The control module controls the speed of the waterproof motor retracting and releasing the micro-optical cable according to the tension setting value and the tension detection value, so as to keep the tension value of the micro-optical cable constant during retraction and release.

[0036] The control module uses a neural network PID control algorithm for constant tension control of micro-optical cables during underwater laying. During the autonomous laying of underwater micro-optical cables, the control module obtains the tension detected by the three-axis tension sensor and adjusts the output speed of the waterproof motor in real time, so that the tension fluctuation of the micro-optical cable during underwater laying is controlled within ±2%, reducing the optical cable loss to within 0.5dB / km. The data set obtained through pre-simulation and experiment is trained in the host computer to establish a coupling dynamic analysis model of UUV-micro-optical cable-underwater micro-optical cable autonomous laying device; the neural network algorithm is deployed in the host computer, the control module communicates with the host computer, receives the calculated parameters of the host computer, and adjusts the output speed of the waterproof motor to adjust the cable output speed of the micro-optical cable.

[0037] The measured value of the three-axis tension sensor is converted into a DC voltage PV(t) of a standard range, and then converted into a feedback value PV(n) in a linear ratio using an analog input module. n represents the sampling time when the analog quantity is converted into a digital quantity. PV(n) and the tension setting value SP(n) are used as input quantities for PID control operation. The incomplete differential PID and anti-integral saturation improved control algorithm are used to perform weighted operations on the proportional action and the differential action. The calculation formula is:

[0038]

[0039] Among them, y is the output value of the PID controller, that is, the PWM pulse width modulation output value used to adjust the speed of the waterproof motor; s is the Laplace operator; c is the integral weight; a is the integral delay coefficient; b is the proportional action weight; T I is the integral action time; T D is the differential action time.

[0040] The present invention dynamically adjusts the motor speed by comparing with the measured value of the tension detection device to achieve constant cable tension release, which ensures that the cable tension remains stable during the laying process.

[0041] The present invention adopts a neural network PID control algorithm for constant tension control of the coil, which can better adapt to the unstable tension changes of linear materials and provide better performance under different working conditions. The active cable release method can usually only control the tension at the cable release point. When the UUV moves, the place where the tension value of the micro-optical cable is the largest usually appears at the contact end with the UUV. This is because the micro-optical cable has a small density and a light weight, and the tension it is subjected to is mainly determined by the movement speed. Therefore, when designing an active cable release system, it is necessary to consider the change in the movement speed of the UUV to ensure that the optical cable can maintain appropriate tension at different speeds to prevent excessive tension or relaxation, thereby damaging the optical cable. The active cable release method requires a suitable trade-off between the cable release speed and the length of the optical cable. If the optical cable is too long, it may be entangled in the submersible during the laying process, or it may bend too much, thereby affecting the optical conductivity and performance of the optical cable. On the contrary, if the optical cable is too short, it may cause excessive tension and increase the risk of the cable being broken. The active cable release method requires careful planning and continuous adjustment to ensure that the laying process of the optical cable proceeds smoothly. This requires comprehensive consideration of the UUV's motion trajectory, speed changes, and the characteristics of the optical cable to minimize potential problems. Active cable release mechanisms usually require the design of control algorithms. PID (proportional-integral-differential) control algorithms are widely used in constant tension control of the wire ball. They can automatically adjust the output of the control system by measuring the tension of the wire ball and the set target tension to maintain a constant tension.

[0042] The underwater micro-optical cable autonomous deployment device is installed under the UUV shell through the UUV mounting plate. The UUV mounting plate is a U-shaped structure, and the annular part of the U-shaped structure is mounted in the middle of the waterproof cabin. The UUV is equipped with multiple sets of ducted thrusters to enable the UUV to perform snorkeling, advance and retreat, and yaw actions underwater; an electronic cavity is embedded in the UUV, and a Pixhawk controller and Raspberry Pi are integrated in the electronic cavity. An underwater searchlight and camera are installed at the front end of the UUV, and the UUV shell is filled with buoyancy materials to adjust the weight parameters.

[0043] The specific steps for UUV to perform autonomous deployment of underwater micro-optical cables are as follows:

[0044] Step 1: Check whether the UUV and the underwater micro-cable autonomous deployment device are working properly; the shore control end detects whether the video stream transmission is normal and clear, and whether the control signal is successfully transmitted;

[0045] Step 2: The onshore control terminal sends the mission information, and the UUV moves to the specified starting point. The inertial measurement unit and depth sensor in the Pixhawk controller monitor the attitude and depth of the UUV in real time to ensure that the UUV is stable at the target water depth.

[0046] Step 3: Start the underwater micro-cable autonomous deployment device, and the UUV moves accordingly; the Pixhawk controller controls the ducted thrusters around the UUV through PWM signals based on the real-time feedback of depth and attitude data, to achieve stable forward movement and attitude adjustment of the UUV;

[0047] The control module of the underwater micro-optical cable autonomous laying device monitors the tension fed back by the three-axis tension sensor in real time and adjusts the speed output by the waterproof motor to control the tension fluctuation of the micro-optical cable within ±2% during the underwater laying process.

[0048] The camera collects images and videos of the underwater environment in real time. The onshore control end monitors the deployment process of the UUV and changes in the surrounding environment based on the real-time video stream transmitted by the Raspberry Pi, ensuring that the fine optical cable will not be disturbed by the outside world during the deployment process.

[0049] Step 4: After completing the underwater micro-optical cable laying task, the cutting device of the underwater micro-optical cable autonomous laying device performs cutting, and the UUV floats up for recovery.

[0050] Embodiment 1:

[0051] like Figure 2 As shown, the UUV device for underwater deployment of fine optical cables provided in this embodiment solves the problems of large size, high cost, complex operation, poor environmental adaptability and high energy consumption in the prior art through compact structure, simple operation and low cost design. The shell of the aircraft is designed by CFD fluid simulation to improve power efficiency and save energy loss. A power control system based on pixhawk is developed to achieve multi-degree-of-freedom and high-precision adjustment of navigation posture. In addition, the UUV body is equipped with a visual recognition system, an intelligent multi-gear lighting system, etc. to achieve the functions and technologies of accurately completing tasks in complex environments. This embodiment is based on the standard UUV propeller architecture, and 5 ducted propellers control the underwater movement of the aircraft, which can realize basic actions such as snorkeling, advance and retreat, and yaw. The mechanical body of the aircraft is divided into an upper shell, a main board and a lower shell, and the electronic cavity is embedded in the main board and fixed by the upper and lower shells. The electronic cabin is made of acrylic material and is divided into three layers: upper, middle and lower, with different modules placed respectively. A secondary degree-of-freedom camera is placed on the head of the electronic cavity to facilitate manual and automatic real-time tracking of underwater targets. The front PWM-controlled high-lumen underwater light creates a clear field of vision for underwater visual identification. Holes are left on the mainboard to facilitate the placement of buoyancy foam to adjust the weight parameters.

[0052] This embodiment mainly includes the following components: electronic compartment, motor, LED light, voltage stabilizer and camera. Through reasonable layout and compact design of each component, the overall device is small in size and suitable for use in narrow and complex underwater environments. Equipped with a mounting plate to facilitate mounting the cable release device.

[0053] The electronic compartment is the core part of the UUV, which has various built-in electronic components to realize the control and data transmission functions of the UUV.

[0054] As for the depth sensor, the GY-MS583730BA sensor is used, with a range of 0-30 bar and a supply voltage of 3-5 V. The sensor is used to monitor the depth of the UUV in real time and feed the data back to the control system to adjust the attitude and depth of the UUV.

[0055] The Pixhawk controller integrates an accelerometer and gyroscope, and has a visual platform to simplify design and debugging. By burning firmware and setting a custom UUV framework, the Pixhawk's PWM channel outputs the correct control signal, which is passed to the motor and ESC to ensure stable control and precise movement of the UUV.

[0056] Raspberry Pi is used to transmit the video stream to the onshore control terminal through a four-core network cable, and at the same time receives the control signal from the shore to control the posture of the UUV. Raspberry Pi is responsible for the collection, compression and transmission of video data to ensure the real-time and clarity of the video signal.

[0057] The UUV device is equipped with an efficient thruster system to achieve precise attitude control and stable propulsion. The thruster uses the self-produced brushless thruster U2, with a maximum thrust of 1.7kg, a maximum power of 150W, and excellent waterproof performance. The thruster receives control signals through electric adjustment to achieve the forward, backward, up and down and rotation movements of the UUV. The high-power motor enables the UUV to have a stronger load-bearing capacity, and can carry a cable-laying device and carry more fine optical cables.

[0058] In order to provide good lighting underwater, high-brightness LED lights are used. The lighting system uses 3W white light LED lights with a lumen of 360-380lm and a light angle of 140°. The LED lights are controlled by a drive circuit and can adjust the brightness as needed to provide a clear view for underwater operations.

[0059] The UUV device has a built-in voltage stabilizer to ensure the stability and safety of the power supply. The input voltage of the voltage stabilizer is 55-60V and the output voltage is 12V for the UUV. Through the regulation of the voltage stabilizer, the stable operation of each electronic component is guaranteed to avoid failures caused by voltage fluctuations.

[0060] In order to achieve underwater video monitoring and data collection, the UUV device is equipped with a high-definition camera. The camera is installed on the front of the UUV and protected by a waterproof shell. It can capture images of the underwater environment in real time and transmit video signals to the shore control terminal.

[0061] Specific operation methods and the role of each component in the deployment process:

[0062] 1. Preparation

[0063] Before laying micro optical cables underwater, a series of preparations need to be done:

[0064] Equipment inspection and debugging: Check whether all components of the UUV device (electronic compartment, motor, LED light, voltage regulator, camera, etc.) are working properly, especially the working status of the propulsion system and power system. Check whether the mounting plate is stable, whether the cable release device is installed in place, and ensure that the laying path of the fine optical cable in the cable release device is unobstructed.

[0065] System initialization: Power on the system, connect it to the shore control terminal, and check whether the video stream transmission is normal and clear.

[0066] 2. Start laying optical cables

[0067] After completing the preparation work, you can start laying the micro optical cable underwater. The specific steps are as follows:

[0068] UUV launch and positioning: The UUV device is launched into the water and moved to the designated starting deployment position through the propulsion system. The inertial measurement unit (IMU) and depth sensor (GY-MS583730BA) in the Pixhawk controller are used to monitor the attitude and depth of the UUV in real time to ensure that the UUV is stable at the target water depth.

[0069] Start the optical cable laying device: Start the optical cable laying device to start laying the fine optical cable at a controlled speed. Use the Pixhawk controller to control the thruster through PWM signals based on the real-time feedback of depth and attitude data to achieve stable forward movement and attitude adjustment of the UUV.

[0070] Real-time monitoring and adjustment: Use the real-time video stream transmitted by the Raspberry Pi to monitor the UUV deployment process and changes in the surrounding environment to ensure that the optical cable will not be disturbed or blocked by the outside world during the deployment process. Use the camera to obtain images and videos of the underwater environment to assist in the selection and adjustment of the deployment path. The depth sensor and IMU monitor the position changes of the UUV in real time, and the control system adjusts the posture and speed of the UUV according to environmental changes (such as changes in water flow speed and direction) to maintain the stability of the optical cable tension.

[0071] Lighting and navigation: According to the underwater light conditions, LED lights are used to provide necessary lighting to ensure clear camera shooting and facilitate observation of underwater deployment conditions.

[0072] Tension control during deployment: Use the Pixhawk controller to adjust the speed and direction of the propeller in real time, and dynamically adjust the motion trajectory of the UUV to keep the tension fluctuation of the optical cable in a smaller range during deployment. The efficient propulsion force of the motor ensures that the UUV can still lay the optical cable stably in different water flow environments, reducing the potential damage to the optical cable caused by tension fluctuations.

[0073] 3. End of deployment

[0074] When the optical cable is laid or reaches the predetermined length, the following operations are required:

[0075] Stop the laying device: Stop the cable laying device to ensure that the cable is laid to the predetermined length or target point. Hover or position the UUV device at the target location to fix the end of the cable or perform other operations.

[0076] Recovering the UUV: The UUV is safely removed from the underwater operating area using the propulsion system and recovered to the surface.

[0077] Check the condition of the equipment to ensure that no parts were damaged during the recycling process.

[0078] In a pool test, the present invention was used to lay a 10-meter fine optical cable. The test was conducted in a pool with a depth of 5 meters. The operator connected the UUV to the shore control terminal and turned on the power. Through the Pixhawk controller and Raspberry Pi, the operator monitored the depth and video images of the UUV in real time on the QGroundControl software interface and controlled it using a remote control. During the operation, the propulsion system of the UUV can flexibly respond to the water flow and obstacles in the pool and lay the optical cable stably. The depth sensor provides real-time feedback on the depth of the UUV to ensure the accuracy of the optical cable laying. The high-definition camera and LED lights provide a clear underwater view, helping the operator to adjust the posture and position of the UUV in time. The test data shows that the UUV can work stably in a 5-meter-deep pool for 1 hour and successfully lay a 10-meter fine optical cable. During the operation of the equipment, the energy consumption is low, with an average power consumption of 120W. The voltage stabilization system ensures the stability of the power supply, and no faults caused by voltage fluctuations occur. The test results show that the UUV device of the present invention performs excellently in complex underwater environments, has the advantages of high precision, high stability and low energy consumption, and significantly improves the efficiency and quality of optical cable laying.

[0079] The present invention achieves significant technical effects and performance improvements by improving the existing underwater optical cable laying technology. By adopting compact design and economical components, the equipment volume is reduced, which is convenient for transportation and operation, and the manufacturing and maintenance costs are significantly reduced. The optimized operation process and interface design enable users to operate the UUV through an intuitive interface and a simple remote control, reducing the dependence on professional operators and improving operation efficiency and laying speed. The application of high-precision depth sensors and high-definition cameras, coupled with a flexible propulsion system, enables the UUV to work stably in complex terrain and strong water flow environments, and significantly improves the accuracy and stability of laying optical cables. The use of high-efficiency brushless thrusters and LED lighting systems, built-in voltage stabilizers, reduces equipment energy consumption, improves endurance, and is suitable for long-term operations. The modular design makes maintenance and upgrading more convenient, and users can adjust the configuration according to specific needs, expanding the scope of application and service life of the equipment. The equipment has high reliability through waterproof, anti-corrosion design and efficient control system, and can work stably in different underwater environments with low failure rate.

[0080] Specific performance indicators include a reduction of approximately 30% in equipment volume, a reduction of approximately 40% in manufacturing and maintenance costs, a 30% increase in deployment efficiency, a 30% extension in battery life, an approximately 15% improvement in the accuracy of laying optical cables, and a reduction in maintenance time of approximately 40%.

[0081] The completely independent and innovative modular system design is adopted to achieve high integration and intelligence. It has the ability to perform multi-functional operations in complex waters, has strong movement ability and wide range of activities, and can carry a variety of sensor equipment such as underwater cameras, laser radars, multi-beam sonars, etc., for information collection and visual recognition. It has a wide range of applications and is of great practical value and development prospects in tasks such as resource detection and environmental exploration.

[0082] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A UUV device for underwater deployment of fine optical cables, characterized in that: It includes a UUV shell and an underwater micro-optical cable autonomous deployment device installed below the UUV shell; The UUV shell is equipped with multiple groups of ducted thrusters to enable the UUV to perform snorkeling, advance and retreat, and yaw actions underwater. An electronic cavity is embedded in the UUV shell, and a Pixhawk controller and a Raspberry Pi are integrated in the electronic cavity. An underwater searchlight and a camera are installed at the front end of the UUV shell. The UUV shell is filled with buoyancy materials to adjust the counterweight parameters. The underwater micro-optical cable autonomous laying device includes a waterproof cabin and a bottom plate; a power module and a control module are arranged inside the waterproof cabin; the bottom plate is located below the waterproof cabin, and a cable storage mechanism, a three-axis tension sensor and a line guide wheel are arranged on the bottom plate; one end of the cable storage mechanism is connected to the output end of the waterproof motor through a coupling, and a micro-optical cable reel is wound on the cable storage mechanism; the free end of the micro-optical cable reel extends through a first line guide wheel installed on the bottom plate, and after bypassing the three groups of pulleys on the three-axis tension sensor in turn, it extends into the micro-optical cable laying output end through a second line guide wheel, and a cutting device is arranged at the micro-optical cable laying output end.

2. A UUV device for underwater deployment of fine optical cables according to claim 1, characterized in that: The front end of the waterproof cabin is provided with a hemispherical sealed hatch cover, the rear end is provided with a disc-shaped sealed hatch cover, and sealing rings are provided at the connection between the front and rear sealed hatch covers and the waterproof cabin body.

3. A UUV device for underwater deployment of fine optical cables according to claim 2, characterized in that: The disc-shaped sealed hatch cover is provided with a plurality of sets of threading bolts, and the cables of the power module and the control module in the waterproof cabin are connected with the three-axis tension sensor, the waterproof motor and the cutting device through the threading bolts.

4. A UUV device for underwater deployment of fine optical cables according to claim 1, characterized in that: The waterproof motor is installed on the bottom plate through a support member, which makes the longitudinal position of the waterproof motor flush with the cable storage mechanism, making it easy to connect the output end of the waterproof motor with the cable storage mechanism. The waterproof motor is connected to the waterproof encoder through a coupling, and the speed is closed-loop controlled.

5. The UUV device for underwater deployment of fine optical cables according to claim 1, characterized in that: The front end and the rear end of the waterproof cabin are connected to the bottom plate through U-shaped connecting pieces respectively.

6. A UUV device for underwater deployment of fine optical cables according to claim 1, characterized in that: The control module adopts a neural network PID control algorithm for constant tension control of the micro-optical cable during underwater laying. During the autonomous laying of the underwater micro-optical cable, the control module obtains the tension detected by the three-axis tension sensor and adjusts the speed output by the waterproof motor in real time, so that the tension fluctuation of the micro-optical cable during underwater laying is controlled within ±2%, and the optical cable loss is reduced to within 0.5dB / km.

7. A UUV device for underwater deployment of fine optical cables according to claim 6, characterized in that: The specific method of using the neural network PID control algorithm for constant tension control of the micro optical cable during underwater deployment is as follows: training the data set obtained by pre-simulation and experiment in the host computer, establishing a coupling dynamic analysis model of the UUV-micro optical cable-underwater micro optical cable autonomous deployment device; deploying the neural network algorithm in the host computer, the control module communicates with the host computer, receives the host computer calculation parameters, and adjusts the output speed of the micro optical cable by adjusting the output speed of the waterproof motor; The measured value of the three-axis tension sensor is converted into a DC voltage PV(t) of a standard range, and then converted into a feedback value PV(n) in a linear ratio using an analog input module. n represents the sampling time when the analog quantity is converted into a digital quantity. PV(n) and the tension setting value SP(n) are used as input quantities for PID control operation. The incomplete differential PID and anti-integral saturation improved control algorithm are used to perform weighted operations on the proportional action and the differential action. The calculation formula is: Among them, y is the output value of the PID controller, that is, the PWM pulse width modulation output value used to adjust the speed of the waterproof motor; s is the Laplace operator; c is the integral weight; a is the integral delay coefficient; b is the proportional action weight; T l is the integral action time; T D is the differential action time.

8. The UUV device for underwater deployment of fine optical cables according to claim 1, characterized in that: The underwater micro-optical cable autonomous laying device is installed under the UUV shell through a U-shaped mounting plate, and the annular part of the U-shaped mounting plate is sleeved in the middle of the waterproof cabin.

9. A UUV device for underwater deployment of fine optical cables according to claim 1, characterized in that: The specific steps for UUV to perform autonomous deployment of underwater micro-optical cables are as follows: Step 1: Check whether the UUV and the underwater micro-cable autonomous deployment device are working properly; the shore control end detects whether the video stream transmission is normal and clear, and whether the control signal is successfully transmitted; Step 2: The onshore control terminal sends the mission information, and the UUV moves to the specified starting point. The inertial measurement unit and depth sensor in the Pixhawk controller monitor the attitude and depth of the UUV in real time to ensure that the UUV is stable at the target water depth. Step 3: Start the underwater micro-cable autonomous deployment device, and the UUV moves accordingly; the Pixhawk controller controls the ducted thrusters around the UUV through PWM signals based on the real-time feedback of depth and attitude data, to achieve stable forward movement and attitude adjustment of the UUV; The control module of the underwater micro-optical cable autonomous laying device monitors the tension fed back by the three-axis tension sensor in real time and adjusts the speed output by the waterproof motor to control the tension fluctuation of the micro-optical cable within ±2% during the underwater laying process. The camera collects images and videos of the underwater environment in real time. The onshore control end monitors the deployment process of the UUV and changes in the surrounding environment based on the real-time video stream transmitted by the Raspberry Pi, ensuring that the fine optical cable will not be disturbed by the outside world during the deployment process. Step 4: After completing the underwater micro-optical cable laying task, the cutting device of the underwater micro-optical cable autonomous laying device performs cutting, and the UUV floats up for recovery.

Images