Collaborative programmable type unmanned autonomous laying system for hydrophone array cable based on multiple submersible vehicles

Abstract

The invention belongs to the technical field of underwater cable laying, and particularly relates to a multi-submersible-vehicle-based collaborative programmable type unmanned autonomous laying system for a hydrophone array cable. After a workboat carries a hydrophone array cable reel to reach an operation area, multiple groups of unmanned submersible vehicles are released, and the front end of a hydrophone array cable sequentially penetrates through a lower sleeve of a three-way connector carried by each unmanned submersible vehicle; the workboat allocates tasks to all the unmanned submersible vehicles, in the moving process of the unmanned submersible vehicles, tension between the electromagnet device and the motor sliding block is monitored through the tension sensor, so that the tension borne by the hydrophone array cable is calculated, adjustment is conducted through movement of the motor sliding block on the guide rail, and then the unmanned submersible vehicles are controlled to move. The tension fluctuation of the hydrophone array cable in the underwater laying process is controlled within + / -2%, and constant tension control is realized; when all the unmanned submersible vehicles arrive at the designated positions, the electromagnet devices carried by the unmanned submersible vehicles are controlled to be invalid, the three-way connector carries the hydrophone array cable to sink to the preset position, and the laying task is completed.

Description

Technical Field

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

[0002] With the continuous development of underwater communication technology, hydrophone array cables are an important carrier for underwater information transmission, and their deployment efficiency and stability are crucial to the construction of underwater communication networks. Traditional optical cable laying methods often rely on manual operation or large-scale ship-mounted equipment, which is not only inefficient but also costly, and also faces many challenges brought by the complex marine environment. In the process of underwater optical cable laying, due to the influence of various factors such as water flow, buoyancy, and posture, the laying speed, tension, and attitude stability of the optical cable are often difficult to accurately control. This may cause the optical cable to be damaged during the laying process, or the laid optical cable may affect the communication quality due to unstable posture. Therefore, how to achieve efficient, stable, and reliable constant tension laying of sensing optical cables has become an urgent problem to be solved in the field of underwater communication technology.

[0003] In recent years, with the rapid development of underwater unmanned vehicle (AUV) technology, the application of AUV in underwater optical cable laying has gradually attracted attention. AUV has the advantages of autonomous navigation, strong flexibility, and adaptability to complex marine environments, which can greatly reduce the difficulty and cost of optical cable laying. However, when AUV is applied to optical cable laying, a series of technical problems still need to be solved, such as constant tension laying of optical cables, coupling control of buoyancy and attitude, etc. Summary of the invention

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

[0005] An unmanned autonomous deployment system for hydrophone array cables based on multi-submersible collaborative programmable system, comprising a surface part and an underwater part; the surface part comprises an operating boat equipped with a hydrophone array cable drum; the underwater part comprises an unmanned submersible equipped with a deployment mechanism; the deployment mechanism comprises a tension sensor, an electromagnet device, a guide rail and a three-way connector; the guide rail is installed at the bottom of the unmanned submersible, and a motor slider is provided on the guide rail; the electromagnet device is connected to the motor slider, and the tension sensor is used to detect the tension between the electromagnet device and the motor slider; a magnet is installed on the upper part of the three-way connector, and the three-way connector is installed below the electromagnet device through the magnet;

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

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

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

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

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

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

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

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

[0014]

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

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

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

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

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

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

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

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

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

[0024] The present invention adopts a constant tension control structure to ensure the stability of the cable during the laying process and to ensure that the functionality of the cable itself will not be affected. The present invention adopts an unmanned submersible cluster arrangement, and the laying speed no longer depends on the movement of the laying ship. Compared with the traditional laying method, the laying speed is further improved. Compared with the traditional laying ship, the unmanned submersible cluster arrangement can ensure a longer laying distance while ensuring the safety of the laying ship. BRIEF DESCRIPTION OF THE DRAWINGS

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

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

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

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

[0029] like Figure 1 As shown, the present invention provides an unmanned autonomous deployment system for hydrophone array cables based on multi-submersible collaborative programmable, including a surface part and an underwater part. The surface part includes an operation vessel 1, on which a control module 2, a hydrophone array cable drum 3, an unmanned submersible and a release device 4 are provided. The underwater part includes an unmanned submersible equipped with a deployment mechanism.

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

[0031] The shell mechanism includes a head shell 5, a middle control section shell 8 and a tail shell 16 connected in sequence, a waterproof rubber ring is provided at the connection of each shell section, a handle 7 is installed on the upper part of the middle control section shell 8, and the deployment mechanism is installed on the lower part of the middle control section shell 8. The driving mechanism includes a left wing propeller 9 and a right wing propeller 19 installed on the left and right sides of the middle part of the control section shell 8, an overhead propeller 10 installed on the top surface of the middle part of the control section shell 8, a tail propeller 13 installed at the tail end of the tail shell 16, and a rudder plate 14 installed around the tail propeller 13.

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

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

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

[0035] After the workboat 1 transports the hydrophone array cable to a safe area close to the deployment area, the control module 2 confirms the signal and operating status of the unmanned submersible. After confirmation, the electromagnet device 23 in the deployment mechanism is controlled to be powered on, so that the electromagnet device 23 is connected to the three-way connector 26. The release device 4 is connected to the two handles 7 of the unmanned submersible, and then the unmanned submersible is placed in the water through the release device 4. The front end of the hydrophone array cable passes through the lower sleeve of the three-way connector 26 carried by each unmanned submersible in turn, and the unmanned submersible is controlled to perform preliminary deployment of the hydrophone array cable. The workboat assigns tasks to each unmanned submersible. During the movement of the unmanned submersible, it navigates and locates through the GPS module, and coordinates the unmanned submersible group to change the shape of the hydrophone array cable. During the movement of the unmanned submersible, the tension between the electromagnet device 23 and the motor slider 21 is monitored by the tension sensor 22, so as to calculate the tension of the hydrophone array cable, and adjust it by the movement of the motor slider 21 on the guide rail 24, so as to ensure that the tension fluctuation of the hydrophone array cable is controlled within ±2% during the underwater deployment process, and realize constant tension control; when all unmanned submersibles arrive at the designated position, the electromagnet device 23 carried by each of them is controlled to fail at the same time, and the three-way connector 26 carries the hydrophone array cable to sink to the predetermined position, completing the deployment task. Finally, all unmanned submersibles float up and are recovered to the work ship 1 through the buoyancy system.

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

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

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

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

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

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

[0042]

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

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

[0045] 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. An unmanned autonomous deployment system for hydrophone array cables based on multi-submersible collaborative programmable system, characterized by: The invention comprises a surface part and an underwater part; the surface part comprises an operating boat (1) equipped with a hydrophone array cable drum (3); the underwater part comprises an unmanned submersible equipped with a deployment mechanism; the deployment mechanism comprises a tension sensor (22), an electromagnet device (23), a guide rail (24) and a three-way connector (26); the guide rail (24) is installed at the bottom of the unmanned submersible, and a motor slider (21) is provided on the guide rail (24); the electromagnet device (23) is connected to the motor slider (21), and the tension sensor (22) is used to detect the tension between the electromagnet device (23) and the motor slider (21); a magnet (25) is installed on the upper part of the three-way connector (26), and the three-way connector (26) is installed below the electromagnet device (23) through the magnet (25); After the operation vessel (1) arrives at the operation area with the hydrophone array cable reel (3), multiple groups of unmanned submersibles are released, and the front ends of the hydrophone array cables are sequentially passed through the lower sleeves of the three-way connectors (26) carried by each unmanned submersible; the operation vessel (1) assigns tasks to each unmanned submersible, and during the movement of the unmanned submersible, the tension between the electromagnet device (23) and the motor slider (21) is monitored by the tension sensor (22), thereby calculating the tension of the hydrophone array cable, and adjusting it by the movement of the motor slider (21) on the guide rail (24), so as to ensure that the tension fluctuation of the hydrophone array cable is controlled within ±2% during the underwater deployment process, thereby realizing constant tension control; when all the unmanned submersibles arrive at the designated position, the electromagnet devices (23) carried by each of them are simultaneously controlled to fail, and the three-way connector (26) carrying the hydrophone array cable sinks to the predetermined position, completing the deployment task.

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

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

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

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

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

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

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

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