A suspended cable real-time search system and method

Abstract

The application provides a kind of suspension cable real-time search system and method, relate to underwater search technology field, suspension cable real-time search system includes hull, winch, cable and tow body, the winch is arranged on the hull, the both ends of the cable are connected with the winch and the tow body respectively, the lock hook and the shooting device are equipped on the tow body, the pressure sensor is equipped in the lock hook, the opening of the lock hook is towards the connection of the cable and the tow body, the cable is used to contact with suspension cable, the lock hook is used to hook the suspension cable, the pressure sensor is used to detect the pressure of the suspension cable, the shooting device is used for 360 degree shooting.The hull can cruise transversely and longitudinally in water area in the application, so that the moving range of the cable covers the whole water area, so that the cable can contact with the suspension cable, accurately position the suspension cable, improve the search efficiency of the suspension cable, and ensure the real-time detection.

Description

Technical Field

[0001] This invention relates to the field of underwater search and exploration technology, and more specifically, to a real-time search and exploration system and method using a suspended cable. Background Technology

[0002] Underwater cables are cables wrapped in insulating materials and laid in water. They can operate underwater, transmit electrical signals, and power underwater equipment. Some underwater cables, such as buoyancy cables, are laid at varying depths in the sea. The deep-sea environment is complex, and ocean currents, marine life, and marine debris can easily affect buoyancy cables. Regular inspections of buoyancy cables are necessary. However, because the location of buoyancy cables in the water is difficult to determine due to the influence of the deep-sea environment, searching for buoyancy cables is difficult, time-consuming, and inefficient. Summary of the Invention

[0003] The problem that this invention aims to solve is to reduce the difficulty of searching for suspended cables.

[0004] To address this, the present invention provides a real-time levitation cable search system, comprising a hull, a winch, a cable, and a towing body. The winch is mounted on the hull, and the two ends of the cable are connected to the winch and the towing body, respectively. The towing body is equipped with a locking hook and a camera device. A pressure sensor is installed inside 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 levitation cable, the locking hook is used to hook the levitation cable, the pressure sensor is used to detect the pressure between the levitation cable and the locking hook, and the camera device is used for 360-degree imaging.

[0005] Optionally, the towing body is also equipped with a robotic arm, which is used to move or cut the suspension cable.

[0006] Optionally, the locking hook is rotatably connected to the drag body.

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

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

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

[0010] Optionally, the drag body is also equipped with a magnetic sensor.

[0011] Optionally, the towing body is equipped with a ballast, and the ballast is equipped with an altimeter and a sonar.

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

[0013] Compared with the prior art, the beneficial effects of the suspended cable real-time search system of the present invention are:

[0014] This invention involves setting up a hull and installing a winch on it. The winch can retract or release a cable, the end of which is connected to a tow body. During operation, the tow body is placed in the water, the winch releases the cable, causing the tow body to sink to the bottom. The hull cruises, propelling the tow body through the water until the cable contacts the suspension cable, i.e., the two cross and abut. After the suspension cable contacts the cable, the winch senses the change in cable tension, the hull decelerates and cruises to a stop, the winch retracts the cable, and the tow body moves upward with the cable. During this process, the cable remains in cross contact with the suspension cable until the tow body rises to its point where it contacts the suspension cable. At this point, the connection between the cable and the tow body comes into contact with the suspension cable. Because the tow body is equipped with… The device has a locking hook with its opening facing the connection between the cable and the towing body. As the towing body continues to rise, the locking hook moves towards the suspended cable and hooks it. A pressure sensor is installed inside the locking hook. The pressure sensor detects the pressure of the suspended cable on the locking hook, confirming that the locking hook has hooked the suspended cable. The imaging device takes pictures and inspects the suspended cable and its surrounding environment to complete the inspection of the suspended cable. In this invention, the hull can cruise horizontally and vertically in the water, allowing the cable's movement range to cover the entire water area. This allows for coarse positioning by contacting the suspended cable with the cable, and precise positioning by hooking the suspended cable with the towing body. This improves the efficiency of searching for the suspended cable and ensures real-time detection.

[0015] Furthermore, to address the aforementioned problems, this invention also provides a real-time detection method for suspended cables. Based on the aforementioned real-time detection system for suspended cables, the method includes:

[0016] S1. The winch releases the cable, causing the towed body to sink into the water;

[0017] S2. The hull cruises horizontally and vertically in the water, pulling the towed body to move in the water until the cable contacts the suspension cable.

[0018] S3. The winch retracts the cable until the hook on the towing body catches the suspension cable, and the pressure sensor detects the pressure exerted by the suspension cable on the hook.

[0019] S4. The camera takes a picture of the suspended cable.

[0020] Compared with the prior art, the beneficial effects of the real-time search method for suspended cables described in this invention are roughly the same as those of the real-time search system for suspended cables described above, and will not be repeated here. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the structure of the drag body according to an embodiment of the present invention;

[0022] Figure 2 This is one of the structural schematic diagrams of the real-time search system for suspended cables described in an embodiment of the present invention;

[0023] Figure 3 This is a second schematic diagram of the structure of the real-time search system for suspended cables described in an embodiment of the present invention;

[0024] Figure 4 This is a flowchart of the real-time search method for suspended cables according to an embodiment of the present invention.

[0025] Explanation of reference numerals in the attached figures:

[0026] 1-Hull; 2-Cable; 3-Tow body; 4-Hook; 5-Protective ring; 6-Mechanical arm; 7-Stern rudder; 8-Lifting boom; 9-Suspension cable. Detailed Implementation

[0027] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0028] It should be noted that in the description of this invention, the orientations or positional relationships indicated by terms such as "upper," "lower," "left," "right," "top," "bottom," "front," "back," "inner," and "outer" are based on the orientations or positional relationships shown in the accompanying drawings and are only for the convenience of describing this invention. They are not intended to indicate or imply that the device referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as limiting the scope of protection of this invention.

[0029] The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature.

[0030] Furthermore, although specific embodiments have been described herein, it should be understood that these embodiments are merely examples of the principles and applications of the invention. Therefore, it should be understood that many modifications can be made to the exemplary embodiments, and other arrangements can be designed without departing from the spirit and scope of the invention as defined by the appended claims. It should be understood that different dependent claims and features herein can be combined in ways not used as described in the original claims. It is also understood that features described in conjunction with individual embodiments can be used in other embodiments.

[0031] To solve the above problems, such as Figure 1 and Figure 3As shown, the present invention provides a real-time levitation cable search system, including a hull 1, a winch, a cable 2, and a towing body 3. The winch is mounted on the hull 1. The two ends of the cable 2 are connected to the winch and the towing body 3, respectively. The towing body 3 is equipped with a locking hook 4 and a shooting device. The locking hook 4 is equipped 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 the levitation cable 9, the locking hook 4 is used to hook the levitation cable 9, the pressure sensor is used to detect the pressure between the levitation cable 9 and the locking hook 4, and the shooting device is used for 360-degree shooting.

[0032] In this embodiment, a hull 1 is constructed, and a winch is installed on the hull 1. The winch can retract or release the cable 2, the end of which is connected to the towing body 3. During operation, the towing body 3 is placed in the water, and the winch releases the cable 2, causing the towing body 3 to sink to the bottom. The hull 1 cruises, propelling the towing body 3 through the water until the cable 2 contacts the suspension cable 9, i.e., the two cross and abut against each other. After the suspension cable 9 contacts the cable 2, the winch senses the change in tension of the cable 2, and the hull 1 decelerates 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 remains in cross contact with the suspension cable 9 until the towing body 3 rises to the point where its body contacts the suspension cable 9. At this point, the connection between the cable 2 and the towing body 3 comes into contact with the suspension cable 9. Due to the towing... The hull 3 is equipped with a hook 4, and the opening of the hook 4 faces the connection between the cable 2 and the towing body 3. When the towing body 3 continues to rise, the hook 4 will move towards the suspended cable 9 and hook the suspended cable 9. The hook 4 is equipped with a pressure sensor. The pressure sensor detects the pressure of the suspended cable 9 on the hook 4 and determines that the hook 4 has hooked the suspended cable 9. The imaging device takes pictures and inspects the suspended cable 9 and the surrounding environment to complete the inspection of the suspended cable 9. In this invention, the hull 1 can cruise horizontally and vertically in the water area, so that the movement range of the cable 2 covers the entire water area. The cable 2 contacts the suspended cable 9 to achieve coarse positioning, and the towing body 3 hooks the suspended cable 9 to achieve precise positioning, thereby improving the search efficiency of the suspended cable 9 and ensuring the real-time nature of the detection.

[0033] Specifically, such as Figure 2 As shown, when the hull 1 drives the towed body 3 underwater, the cable 2 experiences a pulling force provided by the winch, denoted as F1, and a counterforce exerted by the towed body 3 on the cable 2, denoted as F2. F2 is the resultant force of the weight of the towed body 3 and the buoyancy exerted by the water on the towed body 3. When the hull 1 is sailing stably, the force between the cable 2 and the winch is relatively stable. Although the continuous influence of waves on the hull 1 and the irregular influence of ocean currents on the cable 2 in the water cause fluctuations in the force F1, it changes within a certain amplitude in a short period of time. After the cable 2 makes physical interference contact with the suspension cable 9, as... Figure 3As shown, cable 2 will suddenly be subjected to a tension F3 from suspension cable 9, and F3 will increase rapidly in a short period of time, causing a sudden increase in the tension of the winch on cable 2. At this time, the winch will release the cable according to the force situation to balance the force relationship. During this process, the amplitude of the change in tension F1 is much greater than the amplitude of the change in tension of cable 2 caused by the influence of waves on hull 1 during the cruise of hull 1 and the influence of irregular ocean currents on cable 2 in the water. At the same time, the angle sensor on the winch shaft of the winch will record the number of turns of cable released by the winch. Based on this information, hull 1 will decelerate rapidly. After hull 1 stabilizes, the winch will pull up cable 2. A lifting rod 8 is provided above the towing body 3. Cable 2 is connected to the lifting rod 8, which plays the role of supporting and transmitting tension, ensuring the stability of towing body 3 during towing.

[0034] Optionally, such as Figure 1 As shown, the drag body 3 is also equipped with a robotic arm 6, which is used to move or cut the suspension cable 9.

[0035] In this embodiment, by setting a robotic arm 6 on the towing body 3, when the locking hook 4 hooks the suspension cable 9, the robotic arm 6 extends and pulls the suspension cable 9, and the shooting device takes pictures and inspects the suspension cable 9 and the surrounding environment. After the shooting is completed, the robotic arm 6 can drag the suspension cable 9 to disengage from the locking hook 4.

[0036] Specifically, the towing body 3 has a groove for the robotic arm 6 to be inserted. When not in use, the robotic arm 6 is inserted into the groove to reduce the contact area between the towing body 3 and the water, and to prevent debris in the water from affecting the robotic arm 6. The robotic arm 6 can also perform other operations such as cutting the suspension cable 9, removing debris, and measuring the size of the suspension cable 9 with a linear position sensor, thus expanding the application range of the towing body 3.

[0037] Optionally, such as Figure 1 As shown, the locking hook 4 is rotatably connected to the drag body 3.

[0038] In this embodiment, by rotating the locking hook 4 to the towing body 3, after the suspension cable 9 is tested, the locking hook 4 can rotate away from the suspension cable 9 until it is detached from the suspension cable 9, so that the towing body 3 can be retracted after the test is completed.

[0039] Optionally, a control room is provided inside the hull 1, and the control room is electrically connected to the hull 1, the winch, the shooting device and the pressure sensor.

[0040] In this embodiment, by setting up a control room inside the hull 1, the control room can control the winch to retract the cable 2 when the cable 2 comes into contact with the suspension cable 9, and control the hull 1 to decelerate to a stop. The control room can also receive signals from the pressure sensor, control the shooting device to take pictures, and receive the captured images.

[0041] Specifically, the shooting device is equipped with lights to facilitate clear shooting of the environment around the suspended cable 9.

[0042] Optionally, such as Figure 1 As shown, the locking hook 4 is a semi-open annular structure, and the end of the locking hook 4 is provided with a telescopic closed arc plate.

[0043] In this embodiment, by setting the locking hook 4 as a semi-open annular structure, it is easy for the suspension cable 9 to be embedded in the locking hook 4. The open end of the locking hook 4 is provided with a retractable arc plate. The arc plate can be extended to close the opening of the locking hook 4 and prevent the suspension cable 9 from falling off the locking hook 4.

[0044] Optionally, the towing body 3 has a streamlined structure, and a tail rudder 7 is provided at the rear of the towing body 3.

[0045] In this embodiment, by setting the towing body 3 as a streamlined structure and setting a tail rudder 7 at the tail of the towing body 3, the towing body 3 is kept stable in the water and the water resistance to the towing body 3 is reduced.

[0046] Optionally, the drag body 3 is also equipped with a magnetic sensor.

[0047] In this embodiment, by setting a magnetic sensor on the tow body 3, the magnetic sensor can detect changes in the magnetic force around the tow body 3, thereby better detecting the environment around the suspension cable 9 and the seabed environment.

[0048] 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, enabling a wide-range 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. While searching for the suspension cable 9, it can also explore the underwater environment, expanding the application field of the invention and enabling it to handle more complex underwater operations. At the same time, compared with the single sonar positioning of existing underwater robots, the invention integrates mechanical sensors and magnetic sensors to construct a multimodal sensing system, enhancing the comprehensiveness and accuracy of target detection. Moreover, it can quickly respond to different types of physical signals, greatly improving the operational 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, supporting higher-level data analysis and intelligent decision-making.

[0049] Optionally, the tow body 3 is equipped with a ballast, and the ballast is equipped with an altimeter and a sonar.

[0050] In this embodiment, by setting a ballast inside the tow body 3, the weight of the tow body 3 is increased, allowing the tow body 3 to sink quickly to the bottom of the water. The ballast is equipped with an altimeter and sonar, which can monitor the depth of the ballast and the distance to obstacles in front of the tow body 3 in real time.

[0051] Optionally, such as Figure 1 As shown, protective rings 5 ​​are provided on both sides of the drag body 3.

[0052] In this embodiment, by setting protective rings 5 ​​on both sides of the tow body 3, the overall structural strength of the tow body 3 is improved, and the tow body 3 is prevented from being damaged by collision with seabed debris.

[0053] like Figure 4 As shown, another embodiment of the present invention provides a real-time detection method for a suspended cable, based on the aforementioned real-time detection system for a suspended cable, the method comprising:

[0054] S1. The winch releases cable 2, causing the towed body 3 to sink into the water;

[0055] S2. The hull 1 cruises horizontally and vertically in the water in sequence, pulling the towed body 3 to move in the water until the cable 2 contacts the suspension cable 9.

[0056] S3. The winch retracts the cable 2 until the 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 hook 4.

[0057] S4. The camera takes a picture of the suspended cable 9.

[0058] Compared with the prior art, the beneficial effects of the real-time search method of the suspended cable in this embodiment are roughly the same as those of the real-time search system of the suspended cable described above, and will not be repeated here.

[0059] While the present invention has been disclosed above, its scope of protection is not limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention, and all such changes and modifications will fall within the scope of protection of the present invention.

Claims

1. A real-time search system using a suspended cable, characterized in that, The system includes a hull (1), a winch, a cable (2), and a towing body (3). The winch is mounted on the hull (1). The two ends of the cable (2) are connected to the winch and the towing body (3), respectively. The towing body (3) is equipped with a hook (4) and a shooting device. The hook (4) is equipped with a pressure sensor. The opening of the hook (4) faces the connection between the cable (2) and the towing body (3). The cable (2) is used to contact the suspension cable (9). The 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 hook (4). The shooting device is used for 360-degree shooting. The locking hook (4) is a semi-open annular structure, and the end of the locking hook (4) is provided with a telescopic closed arc plate; The towing body (3) is also equipped with a robotic arm (6), which is used to move or cut the suspension cable (9); The drag body (3) has a groove for the robotic arm (6) to be inserted.

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

3. The real-time search system for suspended cables according to claim 1, characterized in that, The hull (1) is equipped with a control room, which is electrically connected to the hull (1), the winch, the camera, and the pressure sensor.

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

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

6. The real-time search system for suspended cables according to claim 1, characterized in that, The tow body (3) is equipped with a ballast device, and the ballast device is equipped with an altimeter and a sonar.

7. The real-time search system for suspended cables according to claim 1, characterized in that, The drag body (3) is provided with protective rings (5) on both sides.

8. A real-time search method using a suspended cable, characterized in that, Based on the real-time search system for suspended cables according to any one of claims 1 to 7, the method includes: S1. The winch releases the cable (2), causing the towed body (3) to sink into the water; S2. The hull (1) cruises horizontally and vertically in the water, 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 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 hook (4); S4. The camera takes a picture of the suspended cable (9).

Images