Suspension cable real-time searching system and method

Abstract

The invention provides a suspension cable real-time searching and detecting system and method, and relates to the technical field of underwater searching and detecting, the suspension cable real-time searching and detecting system comprises a ship body, a winch, a mooring rope and a dragging body, the winch is arranged on the ship body, the two ends of the mooring rope are connected with the winch and the dragging body respectively, the dragging body is provided with a lock hook and a shooting device, and the lock hook and the shooting device are arranged on the ship body. A pressure sensor is arranged in the lock hook, an opening of the lock hook faces the connecting position of the mooring rope and the dragging body, the mooring rope is used for making contact with a suspension cable, the lock hook is used for hooking the suspension cable, the pressure sensor is used for detecting the pressure of the suspension cable, and the shooting device is used for 360-degree shooting. The ship body can cruise transversely and longitudinally successively in a water area, so that the moving range of the mooring rope covers the whole water area, the mooring rope can certainly make contact with the suspension cable, the suspension cable is accurately positioned, the searching and detecting efficiency of the suspension cable is improved, and the real-time performance of detection is ensured.

Description

Technical Field

[0001] The present invention relates to the field of underwater search technology, and in particular to a suspended cable real-time search system and method. Background Art

[0002] Underwater cables are cables wrapped with insulating materials, laid in water, and can operate underwater, transmit electrical signals, and power underwater equipment. Some underwater cables, such as suspension cables, are laid at uncertain depths in the sea. The deep-sea environment is complex, and ocean currents, marine life, and marine debris can easily affect the suspension cables. Suspension cables need to be inspected regularly, but their position in the water is difficult to determine due to the influence of the deep-sea environment. Searching for suspension cables is difficult, time-consuming, and inefficient. Summary of the invention

[0003] The problem to be solved by the present invention is to reduce the difficulty of searching for suspended cables.

[0004] To this end, the present invention provides a real-time search system for a suspended cable, comprising a hull, a winch, a cable and a towing body, wherein the winch is arranged on the hull, and the two ends of the cable are respectively connected to the winch and the towing body, and the towing body is provided with a locking hook and a shooting device, and a pressure sensor is provided in the locking hook, and the opening of the locking hook faces the connection between the cable and the towing body, the cable is used to contact the suspended cable, the locking hook is used to hook the suspended cable, the pressure sensor is used to detect the pressure between the suspended cable and the locking hook, and the shooting device is used for 360-degree shooting.

[0005] Optionally, the towing body is further provided with a manipulator, and the manipulator is used to move or cut the suspension cable.

[0006] Optionally, the locking hook is rotationally connected to the towing body.

[0007] Optionally, a control room is provided in the hull, and the control room is electrically connected to the hull, the winch, the photographing device and the pressure sensor.

[0008] Optionally, the locking hook is a semi-open annular structure, and a telescopic closed arc plate is provided at the end of the locking hook.

[0009] Optionally, the towing body is a streamlined structure, and a tail rudder is provided at the rear of the towing body.

[0010] Optionally, a magnetic sensor is also provided on the dragging body.

[0011] Optionally, a ballast is provided in the towing body, and an altimeter and a sonar are provided on the ballast.

[0012] Optionally, protective rings are provided on both sides of the dragging body.

[0013] Compared with the prior art, the beneficial effects of the suspended cable real-time search system of the present invention are: The present invention is provided with a hull and a winch on the hull. The winch can retract or release the cable. The end of the cable is connected to the towing body. When working, the towing body is put into the water, and the winch releases the cable to make the towing body sink to the bottom of the water. The hull cruises and drives the towing body to move in the water until the cable contacts the suspension cable, that is, the two cross and offset each other. After the suspension cable contacts the cable, the winch senses the change in the tension of the cable, the hull slows down and cruises to stop, the winch retracts the cable, and the towing body moves upward with the cable. In this process, the cable always crosses and contacts the suspension cable until the towing body rises to the point where its body contacts the suspension cable. At this time, the connection between the cable and the towing body contacts the suspension cable. A locking hook is provided, and the opening direction of the locking hook is toward the connection between the cable and the towing body, so that when the towing body continues to rise, the locking hook will move toward the suspension cable to hook the suspension cable, and a pressure sensor is provided in the locking hook. The pressure sensor detects the pressure of the suspension cable on the locking hook, and determines that the locking hook hooks the suspension cable. The shooting device shoots and inspects the suspension cable and the surrounding environment to complete the inspection of the suspension cable. In the present invention, the hull can cruise horizontally and longitudinally in the water area successively, so that the movement range of the cable covers the entire water area, so as to contact the suspension cable through the cable to achieve rough positioning, and then hook the suspension cable through the towing body to accurately position the suspension cable, thereby improving the search efficiency of the suspension cable and ensuring the real-time nature of the detection.

[0014] In addition, in order to solve the above problems, the present invention also provides a real-time search method for a suspended cable. Based on the above real-time search system for a suspended cable, the method comprises: S1. The winch releases the cable, causing the towing body to sink into the water; S2, the hull cruises in the water in turn, horizontally and longitudinally, pulling the towing body to move in the water until the cable contacts the suspension cable; S3, the winch retracts the cable until the lock hook on the towing body hooks the suspension cable, and the pressure sensor detects the pressure exerted by the suspension cable on the lock hook; S4. A photographing device photographs the suspension cable.

[0015] Compared with the prior art, the beneficial effects of the real-time search method for suspended cables of the present invention are substantially the same as the beneficial effects of the real-time search system for suspended cables described above, and will not be described in detail herein. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the structure of the dragging body according to an embodiment of the present invention; Figure 2 This is one of the structural schematic diagrams of the real-time search system for suspended cables according to an embodiment of the present invention; Figure 3This is a second structural schematic diagram of the real-time search system for suspended cables according to an embodiment of the present invention; Figure 4 The present invention is a flowchart of a method for real-time searching for suspended cables according to an embodiment of the present invention.

[0017] Description of reference numerals: 1-hull; 2-cable; 3-towing body; 4-locking hook; 5-protection ring; 6-manipulator; 7-tail rudder; 8-lifting rod; 9-suspension cable. DETAILED DESCRIPTION

[0018] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, specific embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0019] It should be noted that in the description of the present invention, the directions or positional relationships indicated by “up”, “down”, “left”, “right”, “top”, “bottom”, “front”, “back”, “inside” and “outside” are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention, and do not indicate or imply that the device referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, it should not be understood as limiting the scope of protection of the present invention.

[0020] The terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features.

[0021] Moreover, although the present invention is described with reference to specific embodiments, it should be understood that these embodiments are merely examples of the principles and applications of the present invention. It should therefore be understood that many modifications may be made to the exemplary embodiments and that other arrangements may be designed without departing from the spirit and scope of the present invention as defined by the appended claims. It should be understood that the features of the various dependent claims and herein may be combined in a manner not described in the original claims. It may also be understood that the features described in conjunction with the individual embodiments may be used in other embodiments.

[0022] To solve the above problems, Figure 1 and Figure 3As shown, the present invention provides a real-time search system for a suspended cable, comprising a hull 1, a winch, a cable 2 and a towing body 3, wherein the winch is arranged on the hull 1, and the two ends of the cable 2 are respectively connected to the winch and the towing body 3, and the towing body 3 is provided with a locking hook 4 and a shooting device, wherein a pressure sensor is arranged in the locking hook 4, and the opening of the locking hook 4 faces the connection between the cable 2 and the towing body 3, the cable 2 is used to contact with a suspended cable 9, and the locking hook 4 is used to hook the suspended cable 9, and the pressure sensor is used to detect the pressure between the suspended cable 9 and the locking hook 4, and the shooting device is used for 360-degree shooting.

[0023] In this embodiment, a hull 1 is provided and a winch is provided on the hull 1. The winch can retract or release the cable 2. The end of the cable 2 is connected to the towing body 3. When working, the towing body 3 is put into the water, and the winch releases the cable 2 to make the towing body 3 sink to the bottom of the water. The hull 1 cruises and drives the towing body 3 to move in the water until the cable 2 contacts the suspension cable 9, that is, the two cross and offset each other. After the suspension cable 9 contacts the cable 2, the winch senses the change in the tension of the cable 2, and the hull 1 slows down and cruises to a stop. The winch retracts the cable 2, and the towing body 3 moves upward with the cable 2. During this process, the cable 2 always crosses and contacts the suspension cable 9 until the towing body 3 rises to the point where its main body contacts the suspension cable 9. At this time, the connection between the cable 2 and the towing body 3 contacts the suspension cable 9. Due to the towing A locking hook 4 is provided on the body 3, and the opening direction of the locking hook 4 is toward the connection between the cable 2 and the towing body 3, so that when the towing body 3 continues to rise, the locking hook 4 will move toward the suspension cable 9 to hook the suspension cable 9, and a pressure sensor is provided in the locking hook 4. The pressure sensor detects the pressure of the suspension cable 9 on the locking hook 4, and determines that the locking hook 4 hooks the suspension cable 9. The shooting device shoots and inspects the suspension cable 9 and the surrounding environment to complete the inspection of the suspension cable 9. In the present invention, the hull 1 can cruise horizontally and longitudinally in the water area in turn, so that the moving range of the cable 2 covers the entire water area, so as to contact the suspension cable 9 through the cable 2 to achieve rough positioning, and then hook the suspension cable 9 through the towing body 3 to accurately position the suspension cable 9, thereby improving the search efficiency of the suspension cable 9 and ensuring the real-time nature of the detection.

[0024] Specifically, Figure 2 As shown, when the hull 1 drives the towing body 3 to cruise underwater, the cable 2 is subjected to the pulling force provided by the winch, which is recorded as F1, and the reverse force exerted by the towing body 3 on the cable 2, which is recorded as F2. F2 is the combined force of the gravity of the towing body 3 and the buoyancy of the towing body 3 exerted by the water. When the hull 1 is sailing stably, the force between the cable 2 and the winch is relatively stable. Although the force F1 fluctuates due to the continuous influence of the waves on the hull 1 and the influence of the irregular sea currents on the cable 2 in the water, it changes within a certain amplitude in a short time. After the cable 2 and the suspension cable 9 come into physical interference contact, as shown in FIG. Figure 3As shown, the cable 2 will suddenly be subjected to the tension F3 given by the suspension cable 9, and F3 will increase rapidly in a short time, resulting in a sudden increase in the tension of the winch on the cable 2. At this time, the winch will release the cable according to the force conditions to balance the force relationship. The amplitude of the change of the tension F1 in this process is much greater than the amplitude of the change in the tension of the cable 2 caused by the influence of waves on the hull 1 when the hull 1 is cruising and the influence of irregular currents on the cable 2 in the water. At the same time, an angle sensor is provided on the winch shaft on the winch to record the number of turns of the winch releasing the cable. The hull 1 decelerates rapidly according to this information, and the winch retracts the cable 2 after the hull 1 is stable. A lifting rod 8 is provided above the towing body 3, and the cable 2 is connected to the lifting rod 8 to support and transmit the tension, thereby ensuring the stability of the towing body 3 during the towing process.

[0025] Alternatively, if Figure 1 As shown, the towing body 3 is further provided with a manipulator 6 , and the manipulator 6 is used to move or cut the suspension cable 9 .

[0026] In this embodiment, by arranging a manipulator 6 on the towing body 3, when the locking hook 4 hooks the suspension cable 9, the manipulator 6 extends out and grabs the suspension cable 9, and the shooting device shoots and inspects the suspension cable 9 and the surrounding environment. After the shooting is completed, the manipulator 6 can drag the suspension cable 9 to detach from the locking hook 4.

[0027] Specifically, a groove for the manipulator 6 to be embedded in is provided on the towing body 3. When not working, the manipulator 6 is embedded in the groove to reduce the contact area between the towing body 3 and the water, and to prevent the debris in the water from affecting the manipulator 6. The manipulator 6 can also cut the suspension cable 9, remove debris, and measure the size of the suspension cable 9 with a linear position sensor, etc., thereby expanding the application scope of the towing body 3.

[0028] Alternatively, if Figure 1 As shown, the locking hook 4 is rotationally connected to the dragging body 3 .

[0029] In this embodiment, by rotatably connecting the lock hook 4 to the towing body 3, after detecting the suspension cable 9, the lock hook 4 can be rotated away from the suspension cable 9 until it is separated from the suspension cable 9, so as to facilitate the retracting of the towing body 3 after the detection is completed.

[0030] Optionally, a control room is provided in the hull 1, and the control room is electrically connected to the hull 1, the winch, the shooting device and the pressure sensor.

[0031] In this embodiment, by setting up a control room in the hull 1, the control room can control the winch to retract the cable 2 when the cable 2 contacts the suspension cable 9, and control the hull 1 to slow down to stop. The control room can also receive the signal given by the pressure sensor, control the shooting device to shoot, and receive the captured images.

[0032] Specifically, a lamp is installed on the shooting device to facilitate clear shooting of the surrounding environment of the suspension cable 9.

[0033] Alternatively, if Figure 1 As shown, the locking hook 4 is a semi-open annular structure, and a telescopic closed arc plate is provided at the end of the locking hook 4.

[0034] In this embodiment, the locking hook 4 is configured as a semi-open annular structure, so that the suspension cable 9 can be easily embedded in the locking hook 4. A retractable arc plate is provided at the open end of the locking hook 4. The arc plate can be extended to close the opening of the locking hook 4 to prevent the suspension cable 9 from escaping from the locking hook 4.

[0035] Optionally, the towing body 3 is a streamlined structure, and a tail rudder 7 is provided at the rear of the towing body 3 .

[0036] In this embodiment, the towing body 3 is configured as a streamlined structure as a whole, and a tail rudder 7 is provided at the tail of the towing body 3 to ensure that the towing posture of the towing body 3 in the water is stable and reduce the resistance of the water to the towing body 3.

[0037] Optionally, the dragging body 3 is also provided with a magnetic sensor.

[0038] In this embodiment, by arranging a magnetic sensor on the towing body 3, the magnetic sensor can detect the change of magnetic force around the towing body 3, and better detect the surrounding environment of the suspension cable 9 and the seabed environment.

[0039] Specifically, the towed body 3 also includes a high-frequency side-scan sonar to achieve high-frequency imaging on both sides of the towed body 3 and complete a large-scale search for underwater targets; the positioning beacon installed on the head of the towed body 3 can be used in conjunction with the ultra-short baseline array set on the hull 1 to determine the underwater position of the towed body 3, and explore the underwater environment while searching for the suspended cable 9, thereby expanding the application field of the present invention and being able to perform more complex underwater operation tasks. At the same time, compared with the single sonar positioning of existing underwater robots, the present invention integrates mechanical sensors and magnetic sensors to construct a multimodal sensing system, which enhances the comprehensiveness and accuracy of target detection, and can quickly respond to different types of physical signals, greatly improving the operating efficiency and safety of the towed body 3 in complex underwater environments. The fusion of multi-sensor data provides the towed body 3 with rich environmental information and supports higher-level data analysis and intelligent decision-making.

[0040] Optionally, a ballast is provided inside the towing body 3, and an altimeter and a sonar are provided on the ballast.

[0041] In this embodiment, a ballast is provided in the towed body 3 to increase the weight of the towed body 3 so that the towed body 3 can sink to the bottom of the water quickly. The ballast is equipped with an altimeter and sonar to monitor the depth of the ballast and the distance to obstacles in front of the towed body 3 in real time.

[0042] Alternatively, if Figure 1 As shown, protective rings 5 ​​are provided on both sides of the dragging body 3 .

[0043] In this embodiment, by providing protective rings 5 ​​on both sides of the towing body 3, the overall structural strength of the towing body 3 is improved to prevent the towing body 3 from being damaged due to collision with seabed debris.

[0044] like Figure 4 As shown, a real-time search method for suspended cables according to another embodiment of the present invention is based on the real-time search system for suspended cables, and the method includes: S1, the winch releases the cable 2, causing the towing body 3 to sink into the water; S2, the hull 1 cruises in the water in turn, horizontally and vertically, pulling the towing body 3 to move in the water until the cable 2 contacts the suspension cable 9; S3, the winch retracts the cable 2 until the lock hook 4 on the towing body 3 hooks the suspension cable 9, and the pressure sensor detects the pressure exerted by the suspension cable 9 on the lock hook 4; S4. The photographing device photographs the suspension cable 9.

[0045] Compared with the prior art, the beneficial effects of the suspended cable real-time search method of this embodiment are substantially the same as the beneficial effects of the above-mentioned suspended cable real-time search system, which will not be described in detail herein.

[0046] Although the present invention is disclosed as above, the protection scope of the present invention is not limited thereto. Those skilled in the art may make various changes and modifications without departing from the spirit and scope of the present invention, and these changes and modifications will fall within the protection scope of the present invention.

Claims

1. A real-time search system for suspended cables, characterized in that: The invention comprises a hull (1), a winch, a cable (2) and a towing body (3), wherein the winch is arranged on the hull (1), the two ends of the cable (2) are respectively connected to the winch and the towing body (3), the towing body (3) is provided with a locking hook (4) and a shooting device, the locking hook (4) is provided with a pressure sensor, the opening of the locking hook (4) faces the connection between the cable (2) and the towing body (3), the cable (2) is used to contact with a suspension cable (9), the locking hook (4) is used to hook the suspension cable (9), the pressure sensor is used to detect the pressure between the suspension cable (9) and the locking hook (4), and the shooting device is used for 360-degree shooting.

2. The real-time search system for suspended cables according to claim 1, characterized in that: The towing body (3) is also provided with a manipulator (6), and the manipulator (6) is used to move or cut the suspension cable (9).

3. The real-time search system for suspended cables according to claim 1, characterized in that: The locking hook (4) is rotationally connected to the dragging body (3).

4. The real-time search system for suspended cables according to claim 1, characterized in that: A control room is provided in the hull (1), and the control room is electrically connected to the hull (1), the winch, the camera and the pressure sensor.

5. The real-time search system for suspended cables according to claim 1, characterized in that: The locking hook (4) is a semi-open annular structure, and a telescopic closed arc plate is provided at the end of the locking hook (4).

6. The real-time search system for suspended cables according to claim 1, characterized in that: The towing body (3) is a streamlined structure, and a tail rudder (7) is provided at the rear of the towing body (3).

7. The real-time search system for suspended cables according to claim 1, characterized in that: The dragging body (3) is also provided with a magnetic sensor.

8. The real-time search system for suspended cables according to claim 1, characterized in that: A ballast is provided inside the towing body (3), and an altimeter and a sonar are provided on the ballast.

9. The real-time search system for suspended cables according to claim 1, characterized in that: Protective rings (5) are provided on both sides of the dragging body (3).

10. A real-time search method for a suspended cable, characterized in that: Based on the real-time search system for suspended cables according to any one of claims 1 to 9, the method comprises: S1, the winch releases the cable (2), causing the towing body (3) to sink into the water; S2, the hull (1) cruises in the water in a transverse and longitudinal direction in sequence, pulling the towing body (3) to move in the water until the cable (2) contacts the suspension cable (9); S3, the winch retracts the cable (2) until the lock hook (4) on the towing body (3) hooks the suspension cable (9), and the pressure sensor detects the pressure of the suspension cable (9) on the lock hook (4); S4. A photographing device photographs the suspension cable (9).

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