Underwater unmanned laying device for laying sensing optical cable at constant tension

Abstract

The invention belongs to the technical field of underwater unmanned laying, and particularly relates to an underwater unmanned laying device for laying sensing optical cables at constant tension. Long-distance sensing optical cables are stored and connected in a segmented mode, the sensing optical cables in every two adjacent sensing optical cable clusters are connected through the repeaters, the repeaters are equivalent to welding points of multiple sections of optical fibers and sink into the water bottom along with laying of the sensing optical cables, and it is guaranteed that signal transmission of the sensing optical cables is not lost. By designing the constant-speed laying device, in the laying process of the sensing optical cable, according to the tension detected by the tension sensor, the tension fluctuation of the sensing optical cable in the underwater laying process is controlled within + / -2% by adjusting the rotating speed output by the motor. The hollow design is adopted in multiple positions in the structure, the overall light weight is guaranteed while the strength is guaranteed, the overall device is compact in structural design, light and easy to operate, and the convenience and flexibility of underwater sensing optical cable laying are improved.

Description

Technical Field

[0001] The invention belongs to the technical field of underwater unmanned laying, and in particular relates to an underwater unmanned laying device for laying a communication optical cable with constant tension. Background Art

[0002] With the continuous development of underwater communication technology, the laying efficiency and stability of sensing optical cables as an important carrier of underwater information transmission 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 laying underwater optical cables, due to the influence of various factors such as water flow, buoyancy, and posture, the laying speed, tension, and posture 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 underwater unmanned laying device for laying a communication optical cable under constant tension.

[0005] An underwater unmanned laying device for laying a communication optical cable under constant tension, comprising a coil device assembly and a constant speed laying device; the coil device assembly comprises a communication optical cable coil and a buoyancy material shell; the communication optical cable coil comprises an inner ring body and an outer ring body, the inner ring body and the outer ring body are connected by sealing plates at the front and rear ends, the communication optical cable is wound on the inner ring body and is located in the space between the inner ring body and the outer ring body, a cable outlet hole is provided on the surface of the inner ring body, and the front end and the rear end of the communication optical cable both extend out of the cable outlet hole; multiple groups of communication optical cable coils are stacked and arranged, and the outer ring bodies of each communication optical cable coil are connected by a cover plate to form a series assembly; the series assembly is arranged in the buoyancy material shell, and the communication optical cables in two adjacent groups of communication optical cable coils are connected by a repeater; the repeater is arranged in a cable laying channel formed by the stacked inner ring bodies of multiple groups of communication optical cable coils in the series assembly;

[0006] When laying the sensing optical cable, first start pulling out the sensing optical cable from the front end cable outlet hole of the sensing optical cable reel at the front end of the series assembly, and then pull the sensing optical cable out from the cable-laying channel and lay it through the constant-speed laying device; when all the sensing optical cables in a certain sensing optical cable reel are pulled out, the repeater connected to the tail end of the sensing optical cable is also pulled out from the cable-laying channel of the series assembly, and sinks to the bottom of the water as the sensing optical cable is laid, and at the same time the repeater brings out the head end of the sensing optical cable in the next group of optical cable reels, thus realizing the continuous laying of the sensing optical cable.

[0007] Furthermore, the constant speed laying device includes a laying device frame, an auxiliary guide rail and a tension sensor; the front end of the laying device frame is connected to the buoyancy material shell through a connecting bracket, an entrance fixed pulley assembly is provided at the front of the laying device frame, and multiple groups of driving wheel assemblies are arranged in the middle and rear of the laying device frame. A floating pulley assembly is arranged above each group of driving wheel assemblies, and the floating pulley assembly can float up and down around the installation point. The floating pulley assembly and the driving wheel assembly constitute a limiting channel for laying the sensing optical cable; the driving wheel assembly is equipped with a motor assembly; the tension sensor is used to measure the tension on the sensing optical cable.

[0008] Furthermore, the repeater is spherical as a whole, with a cable entry and a cable exit at the front and rear ends respectively, and a wire trough is provided inside; the sensing optical cables in two adjacent groups of sensing optical cable coils enter the wire trough from the cable entry and cable exit of the repeater respectively, are wound around and connected, so as to ensure the continuity of the sensing optical cables, and an auxiliary wiring is provided to connect the sensing optical cables in front and behind the repeater from the top outside the repeater.

[0009] Furthermore, when laying the sensing optical cable, the sensing optical cable enters from the entrance fixed pulley assembly and passes through each group of sensing optical cable laying limit channels along the auxiliary guide rail in sequence; the repeater falls to the outside of the auxiliary guide rail due to gravity, and the auxiliary wiring above the repeater passes normally along the auxiliary guide rail and drives the repeater to move. After all the auxiliary wiring has passed, the sensing optical cable connected to the rear of the repeater continues to pass normally through the sensing optical cable laying limit channels.

[0010] Furthermore, the auxiliary guide rail as a whole has an undulating and bending configuration, including multiple groups of crests and troughs, and each group of crests is arranged at the position of the driving wheel assembly.

[0011] Furthermore, the motor assembly includes a motor, a reducer and an encoder; during the laying of the optical cable, the speed of the motor output is adjusted in real time through the reducer and the encoder according to the tension detected by the tension sensor, so that the tension fluctuation of the optical cable during underwater laying is controlled within ±2%.

[0012] Furthermore, the connecting bracket connecting the deployment device frame and the buoyancy material shell includes an upper triangular bracket and a lateral bracket, the upper triangular bracket is used to connect the deployment device frame and the top of the buoyancy material shell, and the lateral bracket is used to connect the deployment device frame and the side of the buoyancy material shell.

[0013] Furthermore, the upper triangular bracket, the lateral bracket and the deployment device frame all adopt a hollow design, which reduces the structural weight while ensuring the structural strength.

[0014] Furthermore, an underwater unmanned deployment device for constant tension deployment of the communication optical cable is carried as a whole under the AUV, the coil device assembly is installed through the upper end of the buoyancy material shell, and the upper end of the deployment device frame is installed through an L-shaped angle aluminum support.

[0015] The beneficial effects of the present invention are:

[0016] The present invention adopts a structural design in which multiple groups of sensing optical cable coils are stacked and arranged into a series assembly. The sensing optical cables in two adjacent groups of sensing optical cable coils are connected through repeaters, which not only optimizes the storage and carrying methods of the sensing optical cables, but also greatly improves the efficiency of winding and unwinding the sensing optical cables. The present invention adopts segmented storage and connection of long-distance sensing optical cables. The repeater is equivalent to the welding point of multiple sections of optical fiber, and sinks to the bottom of the water as the sensing optical cable is laid, ensuring that the signal transmission of the sensing optical cable is not lost. The present invention designs a constant speed laying device. During the laying of the sensing optical cable, the tension fluctuation of the sensing optical cable during the underwater laying process is controlled within ±2% by adjusting the speed of the motor output according to the tension detected by the tension sensor. The hollow design is adopted in many places in the structure of the present invention, which ensures the overall lightweight while ensuring strength. The entire device structure is compact, lightweight, and easy to operate, which improves the convenience and flexibility of underwater sensing optical cable laying. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 The figure is a general schematic diagram of an underwater unmanned laying device for laying a sensing optical cable under constant tension.

[0018] Figure 2 This is a schematic diagram of the structure of the constant speed deployment device.

[0019] Figure 3 It is a schematic diagram of the structure of the series assembly.

[0020] Figure 4 A schematic diagram of the structure of a repeater. DETAILED DESCRIPTION

[0021] The present invention is further described below in conjunction with the accompanying drawings.

[0022] The present invention provides an underwater unmanned laying device for laying a sensing optical cable at a constant tension, such as Figure 1 As shown, it includes a coil device assembly 1 and a constant speed laying device 5, which are connected by an upper triangular bracket 3 and a lateral bracket 6, wherein the upper triangular bracket 3 is used to connect the laying device frame 45 and the top of the buoyancy material shell 2, and the lateral bracket 6 is used to connect the laying device frame 45 and the side of the buoyancy material shell 2. The upper triangular bracket 3, the lateral bracket 6 and the laying device frame 45 are all hollowed out to reduce the weight of the structure while ensuring the structural strength; the coil device assembly 1 includes a sensing optical cable coil 62 and a buoyancy material shell 2. The upper triangular bracket 3 is based on the principle of topological optimization. Under the premise of ensuring the structural strength, the redundant material is removed to achieve the optimal use of the material. The triangular bracket itself has excellent stability. The hollow design further disperses the stress concentration, improves the stiffness and bearing capacity of the overall structure, and the reduction in material use directly reduces the manufacturing cost. At the same time, the optimized structure is easier to process and assemble, further improving the economy. The upper triangular bracket 3 and the lateral bracket 6 are made of aluminum to make the connector, and the hollow design is adopted to ensure the strength while ensuring the overall lightweight.

[0023] like Figure 2 As shown, the constant speed laying device 5 includes a laying device frame 45, an auxiliary guide rail 46 and a tension sensor; the front end of the laying device frame 45 is connected to the buoyancy material shell 2 through a connecting bracket, an inlet fixed pulley assembly 44 is provided at the front of the laying device frame 45, and multiple sets of driving wheel assemblies 43 are arranged in the middle and rear of the laying device frame 45. A floating pulley assembly 42 is arranged above each set of driving wheel assemblies 43, and the floating pulley assembly 42 can float up and down around the installation point. The floating pulley assembly 42 and the driving wheel assembly 43 constitute a sensing optical cable laying limit channel; the driving wheel assembly 43 is equipped with a motor assembly 41; the tension sensor is used to measure the tension of the sensing optical cable. The auxiliary guide rail 46 is an undulating bending configuration as a whole, including multiple sets of wave crests and wave troughs, and each set of wave crests is arranged at the position of the driving wheel assembly 43. The motor assembly 41 includes a motor, a reducer and an encoder; during the laying of the optical cable, the speed of the motor output is adjusted in real time through the reducer and the encoder according to the tension detected by the tension sensor, so that the tension fluctuation of the optical cable during underwater laying is controlled within ±2%.

[0024] The deployment device frame 45 can be made of an aluminum plate with a thickness of 1 cm, and a hollow design is used to ensure lightweight. The floating pulley assembly 42 is used to ensure that the sensing optical cable can be pressed against the driving wheel assembly 43, ensuring the stability of the deployment power. The motor is fixed to the rear end of the deployment device frame 45 through the motor fixing frame. The main function of the auxiliary guide rail 46 is to protect the pulley. The cable auxiliary slide rail buffer mechanism is designed to reduce the impact on the sensing optical cable during the retraction and release process, thereby improving the stability of the system.

[0025] like Figure 3As shown, the series assembly is composed of multiple groups of sensing optical cable reels 62 arranged in layers, and the sensing optical cable reels 62 are connected by a cover plate 51. The sensing optical cable reel 62 adopts a hollow circular ring body structure, including an inner ring body and an outer ring body, and the inner ring body and the outer ring body are connected by sealing plates at the front and rear ends. The sensing optical cable is wound on the inner ring body and is located in the space between the inner ring body and the outer ring body. A cable outlet hole is opened on the surface of the inner ring body, and the front end and the tail end of the sensing optical cable extend out of the cable outlet hole. The series assembly is arranged in the buoyancy material shell 2, and the sensing optical cables in two adjacent groups of sensing optical cable reels 62 are connected by a repeater 63; the repeater 63 is arranged in the cable release channel of the series assembly.

[0026] like Figure 4 As shown, the repeater 63 is spherical as a whole, with the front and rear ends respectively starting with the cable entrance and the cable exit 33, and a wire groove 34 is provided inside; the sensing optical cables in the two adjacent groups of sensing optical cable coils 62 enter the wire groove 34 from the cable entrance and the cable exit 33 of the repeater 63 respectively, and are wound and connected to ensure the continuity of the sensing optical cable, and an auxiliary wiring is provided to connect the sensing optical cables in front and behind the repeater 63 from the top of the outside of the repeater 63. The repeater 63 designed in a spherical shape is installed inside the wire laying channel. The repeater is provided with a wire groove 34 inside for winding the sensing optical cable. The wound sensing optical cable is fixed by the internal pressure plate 32 to ensure that the sensing optical cable will not fall or twist during the wire laying process. This design not only ensures the wire laying quality of the sensing optical cable, but also enables the repeater to be smoothly brought out during the wire laying process, thereby realizing the continuous laying of the optical cable.

[0027] When laying the sensing optical cable, the underwater unmanned laying device for laying the sensing optical cable at constant tension is carried as a whole under the AUV, the coil device assembly 1 is installed through the upper end of the buoyancy material shell 2, and the upper end of the laying device frame 45 is installed through the L-shaped angle aluminum support 4. First, the sensing optical cable is pulled out from the front end cable outlet hole of the sensing optical cable coil 62 at the front end of the series assembly, and the sensing optical cable is pulled out from the line-laying channel and laid through the constant speed laying device 5; the sensing optical cable enters from the entrance fixed pulley assembly 44, and passes through each group of sensing optical cable laying limit channels in turn along the auxiliary guide rail 46; when all the sensing optical cables in a sensing optical cable coil 62 are pulled out, the repeater 63 connected to the tail end of the sensing optical cable is also pulled out from the line-laying channel of the series assembly 62. The repeater 63 falls out of the auxiliary guide rail 46 due to gravity, and the auxiliary wiring above the repeater 63 passes normally along the auxiliary guide rail 46 and drives the repeater 63 to move. After all the auxiliary wiring passes, the repeater 63 sinks to the bottom of the water as the sensing optical cable is laid. At the same time, the repeater 63 brings out the head end of the sensing optical cable in the next group of optical cable coils 62, and the sensing optical cable connected behind the repeater 63 continues to pass normally through the sensing optical cable laying limit channel, and realizes the continuous laying of the sensing optical cable.

[0028] Normally, the underwater laying of long-distance optical fiber is as follows: laying multi-end optical fibers separately, and then welding the laid optical fibers on the seabed through an underwater robot. This not only increases the operating cost, but also affects the normal communication of signals. The present invention adopts the method of storing and connecting the long-distance sensing optical cable in sections, and the repeater is used as a signal base station, which can not only reduce the signal attenuation of the long-distance transmission of the sensing optical cable, but also allows the sensing optical cable to be threaded in the groove inside the repeater through a unique spherical structure, instead of being welded. The repeater is installed inside the pay-off channel, which is equivalent to the welding point of multiple sections of optical fiber, ensuring that the transmission of the sensing optical cable signal is not lost, and can effectively enhance the signal propagation capability. When the first section of the coil is released and the second section of the coil begins to be released, the repeater sinks into the seabed with the laid sensing optical cable to ensure normal signal communication. When laying the sensing optical cable underwater over a long distance, the required number of coils can be determined according to the laying mileage to connect and form a series assembly.

[0029] 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 underwater unmanned laying device for laying a sensing optical cable under constant tension, characterized in that: The invention comprises a coil device assembly (1) and a constant speed laying device (5); the coil device assembly (1) comprises a sensing optical cable coil (62) and a buoyancy material shell (2); the sensing optical cable coil (62) comprises an inner ring body and an outer ring body, the inner ring body and the outer ring body are connected by sealing plates at the front and rear ends, the sensing optical cable is wound around the inner ring body and is located in the space between the inner ring body and the outer ring body, a cable outlet hole is provided on the surface of the inner ring body, and the front end and the rear end of the sensing optical cable are both connected through the cable outlet hole. The plurality of sensing optical cable reels (62) are stacked and arranged, and the outer ring bodies of the sensing optical cable reels (62) are connected through the cover plate (51) to form a series assembly; the series assembly is arranged in the buoyancy material shell (2), and the sensing optical cables in two adjacent sets of sensing optical cable reels (62) are connected through a repeater (63); the repeater (63) is arranged in a line-releasing channel formed by the stacked inner ring bodies of the plurality of sensing optical cable reels (62) in the series assembly; When laying the sensing optical cable, the sensing optical cable is first drawn out from the front cable outlet hole of the sensing optical cable reel (62) at the front end of the series assembly, and the sensing optical cable is drawn out from the cable laying channel and laid through the constant speed laying device (5); when all the sensing optical cables in a sensing optical cable reel (62) are drawn out, the repeater (63) connected to the tail end of the sensing optical cable is also drawn out from the cable laying channel of the series assembly (62) and sinks to the bottom of the water as the sensing optical cable is laid, and at the same time, the repeater (63) brings out the head end of the sensing optical cable in the next group of optical cable reels (62), thereby realizing continuous laying of the sensing optical cable.

2. According to claim 1, an underwater unmanned laying device for laying a sensing optical cable under constant tension, characterized in that: The constant speed laying device (5) comprises a laying device frame (45), an auxiliary guide rail (46) and a tension sensor; the front end of the laying device frame (45) is connected to the buoyancy material shell (2) through a connecting bracket, an inlet fixed pulley assembly (44) is arranged at the front of the laying device frame (45), a plurality of driving wheel assemblies (43) are arranged in the middle and rear of the laying device frame (45), a floating pulley assembly (42) is arranged above each driving wheel assembly (43), the floating pulley assembly (42) can float up and down around the installation point, and the floating pulley assembly (42) and the driving wheel assembly (43) constitute a sensing optical cable laying limit channel; the driving wheel assembly (43) is equipped with a motor assembly (41); the tension sensor is used to measure the tension exerted on the sensing optical cable.

3. The underwater unmanned laying device for laying a sensing optical cable under constant tension according to claim 2, characterized in that: The repeater (63) is spherical in shape as a whole, with a cable inlet and a cable outlet (33) at the front and rear ends respectively, and a wire groove (34) is provided inside; the sensing optical cables in two adjacent groups of sensing optical cable coils (62) enter the wire groove (34) from the cable inlet and the cable outlet (33) of the repeater (63) respectively, are wound and connected, so as to ensure the continuity of the sensing optical cables, and auxiliary wiring is provided to connect the sensing optical cables in front and behind the repeater (63) from the top outside.

4. The underwater unmanned laying device for laying a sensing optical cable under constant tension according to claim 3, characterized in that: When laying the sensing optical cable, the sensing optical cable enters from the entrance fixed pulley assembly (44) and passes through each group of sensing optical cable laying limit channels in sequence along the auxiliary guide rail (46); the repeater (63) falls to the outside of the auxiliary guide rail (46) due to gravity, and the auxiliary wiring above the repeater (63) passes along the auxiliary guide rail (46) normally, and drives the repeater (63) to move. After all the auxiliary wiring passes, the sensing optical cable connected to the rear of the repeater (63) continues to pass through the sensing optical cable laying limit channels normally.

5. The underwater unmanned laying device for laying a sensing optical cable under constant tension according to claim 2, characterized in that: The auxiliary guide rail (46) is of an undulating and bent configuration as a whole, including a plurality of groups of wave crests and wave troughs, and each group of wave crests is arranged at the position of the driving wheel assembly (43).

6. The underwater unmanned laying device for laying a sensing optical cable under constant tension according to claim 2, characterized in that: The motor assembly (41) comprises a motor, a reducer and an encoder; during the laying of the optical fiber cable, the speed of the motor output is adjusted in real time through the reducer and the encoder according to the tension detected by the tension sensor, so that the tension fluctuation of the optical fiber cable during the underwater laying process is controlled within ±2%.

7. The underwater unmanned laying device for laying a sensing optical cable under constant tension according to claim 2, characterized in that: The connecting bracket connecting the deployment device frame (45) and the buoyancy material shell (2) comprises an upper triangular bracket (3) and a lateral bracket (6), wherein the upper triangular bracket (3) is used to connect the deployment device frame (45) and the top of the buoyancy material shell (2), and the lateral bracket (6) is used to connect the deployment device frame (45) and the side of the buoyancy material shell (2).

8. The underwater unmanned laying device for laying a sensing optical cable under constant tension according to claim 7, characterized in that: The upper triangular support (3), the lateral support (6) and the deployment device frame (45) all adopt a hollow design, which reduces the structural weight while ensuring the structural strength.

9. The underwater unmanned laying device for laying a sensing optical cable under constant tension according to claim 8, characterized in that: The underwater unmanned deployment device for constant tension deployment of a communication optical cable is mounted as a whole below an AUV, the wire coil device assembly (1) is installed through the upper end of a buoyancy material shell (2), and the upper end of a deployment device frame (45) is installed through an L-shaped angle aluminum support (4).

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