Submarine cable line type identification and control method

Abstract

The invention discloses a submarine cable line type identification and control method, and belongs to the field of submarine cable laying. The method comprises the following steps: establishing a catenary equation of the submarine cable between a point (point A) where the submarine cable is separated from a bearing turntable and a contact point (point B) at the end part of an untwisting frame according to the bending rigidity EI and linear density rho of the submarine cable, and determining the allowable minimum bending radius Rmin of the submarine cable and the maximum bending radius Rmax of the submarine cable; the method comprises the steps of determining the height difference of a submarine cable or a submarine cable section, calculating the horizontal distance Mmin and Mmax of a point A and a point B corresponding to Rmin and Rmax according to a catenary equation, dividing a set (Mmin and Mmax) into three subsets, and controlling the rotating speed of a bearing turntable according to the relation between the horizontal distance M of the point A and the point B measured in real time and the three subsets so as to enable the rotating speed to be matched with the cable laying speed of a cable laying machine. The method has the advantages that the submarine cable regulation and control speed is high, and the matching effect of the submarine cable output speed of the bearing turntable and the cable laying speed of the cable laying machine is good.

Description

Technical Field

[0001] The invention relates to a submarine cable line type identification and control method, belonging to the field of submarine cable laying. Background Art

[0002] Submarine cables are cables wrapped in insulating materials and laid on the seabed. Due to the large diameter of the submarine cable, if it is bent beyond a certain limit during laying, the protective layer of the submarine cable will be damaged. To ensure that the submarine cable is not damaged, it is necessary to consider the unification of the speed of the cable laying ship, the speed of the cable laying machine, and the speed of the cable turntable during the submarine cable laying construction to prevent excessive tension from damaging the submarine cable, and to prevent too little tension from causing the submarine cable to twist and knot, causing the protective layer of the submarine cable to be squeezed and damaged. In particular, the speed of the load-bearing turntable and the speed of the cable laying machine must be unified. When the speed of the load-bearing turntable is less than the speed of the cable laying machine, the submarine cable is subjected to tension, and when the tension is too large, the submarine cable is damaged; when the speed of the load-bearing turntable is greater than the speed of the cable laying machine, the submarine cable is squeezed, and the bending radius of the submarine cable is less than the allowable radius, which also causes damage to the submarine cable.

[0003] Currently, the speed control of the bearing turntable and the cable laying machine is usually done manually. The operator always pays attention to the line shape of the submarine cable on the cable laying machine turntable, judges whether the turntable speed matches the cable laying machine speed through the line shape, and adjusts the turntable speed through the electronic control system to control the line shape of the submarine cable. This method relies heavily on manual experience, and continuous operation of the submarine cable can easily cause fatigue to the workers. Once the turntable speed is not controlled in time, it is very easy to cause bending and damage to the submarine cable. Summary of the invention

[0004] In view of the problems existing in the speed control of the existing bearing turntable and the cable laying machine, the present invention provides a method for identifying and controlling the line type of a submarine cable. When the bending radius of the submarine cable between the bearing turntable and the back-twist frame meets the requirements, the rotation speed of the bearing turntable is adjusted to match the submarine cable conveying speed of the bearing turntable with the cable laying of the cable laying machine.

[0005] In order to solve the above technical problems, the present invention includes the following technical solutions:

[0006] A method for identifying and controlling the line type of a submarine cable, wherein the submarine cable is transported from a bearing turntable to a back-twist frame, the submarine cable on the bearing turntable comprises several layers, each layer is spirally wound, the point where the submarine cable leaves the bearing turntable is recorded as point A, and the contact point at the end of the back-twist frame is recorded as point B; the method for identifying and controlling the line type of the submarine cable comprises the following steps:

[0007] Step 1: Determine the bending stiffness EI and line density ρ of the submarine cable, establish the catenary equation of the submarine cable between point A and point B; determine the minimum allowable bending radius Rmin and the maximum bending radius Rmax of the submarine cable;

[0008] Step 2: Set a distance meter above the submarine cable to measure the height of the submarine cable at the layer where point A is located, and calculate the height difference H between point A and point B. Calculate the horizontal distances Mmin and Mmax between point A and point B corresponding to Rmin and Rmax respectively according to the catenary equation of the submarine cable; preset M1 and M2, and divide the set (Mmin, Mmax) into three subsets (Mmin, M1), [M1, M2], (M2, Mmax), where Mmin<M1<M2<Mmax;

[0009] Step 3: Collect the submarine cable image by the image acquisition device installed above the submarine cable, and calculate the distance M between point A and point B; if M∈(Mmin,M1), reduce the rotation speed of the load-bearing turntable; if M∈[M1,M2], match the rotation speed of the load-bearing turntable with the submarine cable laying speed; if M∈(M2,Mmax), increase the rotation speed of the load-bearing turntable.

[0010] Further, step three is replaced by:

[0011] A plane model of the bearing turntable and the back-torsion frame is set in the computer, and several circles are drawn along the radial direction of the plane model of the bearing turntable, and several grids are drawn in each circle to form a matrix grid; the horizontal distance between the matrix grid and point B is recorded as M', and if Mmin<M'<Mmax, the matrix grid is marked with a color for distinction;

[0012] If M'∈(Mmin,M1), the matrix grid is marked with the first color; if M'∈[M1,M2], the matrix grid is marked with the second color; if M'∈(M2,Mmax), the matrix grid is marked with the third color;

[0013] The submarine cable image is collected by an image acquisition device arranged above the submarine cable, and the position of point A is merged with the matrix grid. If the matrix grid corresponding to point A is the first color, the rotation speed of the load-bearing turntable is reduced; if the matrix grid corresponding to point A is the second color, the rotation speed of the load-bearing turntable is matched with the submarine cable laying speed; if the matrix grid corresponding to point A is the third color, the rotation speed of the load-bearing turntable is increased.

[0014] Further, step three is replaced by:

[0015] A plane model of the bearing turntable and the back-torsion frame is set in the computer, and several circles are drawn along the radial direction of the plane model of the bearing turntable, and several grids are drawn in each circle to form a matrix grid; the horizontal distance between the matrix grid and point B is recorded as M', and if Mmin<M'<Mmax, the matrix grid is marked with a color for distinction;

[0016] If M'∈(Mmin,M1), the matrix grid is marked with the first color; if M'∈[M1,M2], the matrix grid is marked with the second color; if M'∈(M2,Mmax), the matrix grid is marked with the third color;

[0017] A projection device is set above the submarine cable, and the rectangular grids marked with colors in the computer are projected onto the submarine cable in proportion. The speed of the load-bearing turntable is controlled by the color of the matrix grid corresponding to point A. If the matrix grid corresponding to point A is the first color, the rotation speed of the load-bearing turntable is reduced; if the matrix grid corresponding to point A is the second color, the rotation speed of the load-bearing turntable is matched with the submarine cable laying speed; if the matrix grid corresponding to point A is the third color, the rotation speed of the load-bearing turntable is increased.

[0018] Further, M1=Mmin+ΔM / 3; M2=Mmax-ΔM / 3; ΔM=Mmax-Mmin.

[0019] Furthermore, each matrix grid is fan-shaped, the length of the long arc side of the fan-shaped grid is (Mmax-Mmin) / 3, and the other two edges of the sector are radially arranged along the bearing turntable.

[0020] Further, step 2 is replaced by:

[0021] According to the number of stacked layers of submarine cables on the bearing turntable, a number of sections are divided in the height direction, and each section includes a number of layers of submarine cables;

[0022] Determine in advance the cable height range of each section and the maximum height difference H1 and minimum height difference H2 of each section; calculate the horizontal distances Mmin1 and Mmax1 between points A and B corresponding to Rmin and Rmax respectively at H1, and the horizontal distances Mmin2 and Mmax2 between points A and B corresponding to Rmin and Rmax respectively at H2 according to the catenary equation of the cable; take Mmax=min(Mmax1,Mmax2), Mmin=max(Mmin1,Mmin2);

[0023] Preset M1 and M2, and divide the set (Mmin, Mmax) into three subsets (Mmin, M1), [M1, M2], (M2, Mmax), where Mmin<M1<M2<Mmax;

[0024] According to the distance meter installed above the submarine cable, the height of the submarine cable at the layer where point A is located is measured, and the section of the submarine cable height range that the submarine cable height falls into is determined. The set (Mmin, Mmax) corresponding to the section and the corresponding three subsets (Mmin, M1), [M1, M2], and (M2, Mmax) are selected.

[0025] Due to the adoption of the above technical scheme, the present invention has the following advantages and positive effects compared with the prior art: the cable line type identification and control method provided by the present invention, according to the bending stiffness EI and line density ρ of the cable, establishes the catenary equation of the cable between the point (point A) where the cable leaves the bearing turntable and the contact point (point B) at the end of the back-twist frame, determines the minimum bending radius Rmin allowed by the cable and the maximum bending radius Rmax of the cable; then determines the height difference of the cable or the cable section, and then calculates the horizontal distances Mmin and Mmax of points A and B corresponding to Rmin and Rmax according to the catenary equation, divides the set (Mmin, Mmax) into three subsets, and controls the rotation speed of the bearing turntable according to the relationship between the horizontal distance M of points A and B measured in real time and the three subsets, so as to match it with the cabling speed of the cabling machine. The method quickly identifies whether the cable line type is reasonable by identifying the position of point A and combining theoretical calculation, and has the advantages of fast cable regulation speed, good matching effect of the output speed of the bearing turntable and the cabling speed of the cabling machine. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a schematic diagram of the turntable, submarine cable and torsion frame;

[0027] Figure 2 Schematic diagram of the height difference, horizontal distance and of point A and point B in one embodiment of the present invention;

[0028] Figure 3 It is a schematic diagram of the minimum allowable bending radius Rmin of a submarine cable, the maximum bending radius Rmax of the submarine cable, and the horizontal distances Mmin and Mmax of points A and B corresponding to Rmin and Rmax respectively in one embodiment of the present invention;

[0029] Figure 4 is a schematic diagram of a virtual carrying turntable and matrix grids in one embodiment of the present invention;

[0030] Figure 5 A schematic diagram of marking colors of virtual matrix cells in an embodiment of the present invention;

[0031] Figure 6 It is a schematic diagram of the division of submarine cable sections in one embodiment of the present invention.

[0033] The numbers in the figure are as follows:

[0034] 1- load-bearing turntable; 2- submarine cable; 3- torsion back frame; 4- virtual load-bearing turntable; 5- matrix grid; 6- long arc edge of fan-shaped grid. DETAILED DESCRIPTION

[0035] The following is a further detailed description of the submarine cable line type identification and control method provided by the present invention in conjunction with the accompanying drawings and specific embodiments. The advantages and features of the present invention will become clearer in conjunction with the following description. It should be noted that the accompanying drawings are all in a very simplified form and are not in precise proportions, and are only used to conveniently and clearly assist in explaining the purpose of the embodiments of the present invention.

[0036] Combination Figure 1 and Figure 2 As shown, the submarine cable 2 is wound on the bearing turntable 1. The submarine cable 2 has several layers, and each layer of the submarine cable is spirally wound. In order to facilitate the winding of the submarine cable, a central column can also be set at the center position of the bearing turntable, and the submarine cable is wound around the central column. One end of the submarine cable is lifted and transported to the detwisting frame 3. One end of the detwisting frame 3 is provided with a curved receiving device, which can be a curved plate. The position where the lifted end of the submarine cable is separated from the bearing turntable is recorded as point A, and the end point of the curved receiving device is recorded as point B. As the bearing turntable rotates, point A may move radially along the bearing turntable, and may also change along the circumferential direction of the bearing turntable. As the number of submarine cable layers changes, the height of point A will also change. The detwisting frame 3 usually includes a support and a horizontal plate. The horizontal plate can rotate back and forth within a certain angle. When point A moves, point B can swing left and right to match the position of point A to prevent the submarine cable from bending left and right at point B. The height of point B always remains unchanged.

[0037] Combination Figures 1 to 3 As shown in the figure, when the specifications of the submarine cable are determined, the bending stiffness EI and the linear density ρ of the submarine cable can be obtained, and then the minimum allowable bending radius Rmin and the maximum allowable tension of the submarine cable can be obtained. The greater the tension of the submarine cable, the greater the horizontal distance between point A and point B, the greater the bending radius of the submarine cable at point A, and the maximum bending radius Rmax of the submarine cable under the maximum allowable tension of the submarine cable can be further obtained. A curved receiving device is set at the end of the detent frame. The bending radius of the curved receiving device is a set value. The bending radius of the submarine cable at this point remains unchanged, and there is no bending damage. However, there is no protection measure for the submarine cable at point A, which is very likely to cause the bending radius to be too small, resulting in bending damage. The bending radius R of the submarine cable detached from the load-bearing turntable is related to the position of point A and the height difference H between point A and point B. When the height difference H and the position of point A are determined, the bending radius R of the submarine cable can be determined.

[0038] When determining the bending radius R of the submarine cable, the principle of the catenary can be used. For example, the catenary equation f(x, y, EI, ρ) of the submarine cable between points A and B is established, where x and y are the plane coordinates of any point on the submarine cable between points A and B. The bending radius R of the submarine cable can be determined by the catenary equation when the height difference H is H. The catenary is a curve, which refers to a uniform, soft but inextensible chain fixed at both ends. The curved shape it has under the action of gravity. The principle of the catenary is often used in suspension bridges, hyperbolic arch bridges, overhead cables, and hyperbolic arch dams. The catenary equation can be used to obtain the coordinates and linearity of any point of the submarine cable between points A and B when the height difference H is H, as well as the bending radius R of the submarine cable where it leaves the load turntable. The horizontal distance M between points A and B can also be determined when the linearity is determined. According to the catenary equation of the submarine cable, the horizontal distance Mmin between point A and point B when the curvature radius of the submarine cable is Rmin can be obtained, and the horizontal distance between point A and point B when the curvature radius of the submarine cable is Rmax is recorded as Mmax. If Rmin<R<Rmax, or Mmin<M<Mmax, it can be determined that the bending radius R of the submarine cable meets the requirements.

[0039] It should be noted that satisfying Rmin<R<Rmax is the most basic requirement, which only meets the minimum requirement that the submarine cable is not damaged, and has not yet achieved the problem of matching the submarine cable output speed of the bearing turntable with the cabling speed of the cable laying machine. It is necessary to define a more reasonable area range for the submarine cable bending radius between Rmin and Rmax. The present invention uses preset intermediate values ​​M1 and M2 between Mmin and Mmax, divides the set (Mmin, Mmax) into three subsets (Mmin, M1), [M1, M2], and (M2, Mmax), and uses [M1, M2] as the interval for matching the submarine cable output speed of the bearing turntable with the cabling speed of the cable laying machine, and adjusts the rotation speed of the bearing turntable according to the relationship between the horizontal distance M between point A and point B and the three subsets.

[0040] When determining the height difference H between point A and point B, a distance meter can be used. The distance meter is set above the submarine cable of the bearing turntable to measure the distance between the distance meter and the uppermost submarine cable (the submarine cable at the layer where point A is located). The height of the distance meter is a fixed value, and the height of point B is a fixed value, so the vertical distance between point B and the uppermost submarine cable can be calculated, that is, the height difference H. The distance meter can be set above the bearing turntable through a support frame, and can also be set above the back-twist frame through a support rod.

[0041] like Figure 3As shown, in order to better identify whether the bending radius R of the submarine cable meets the requirements, a virtual bearing turntable 4 is set by a computer, and several circles are drawn radially, and several grids are drawn in each circle to form a matrix grid 5, and the matrix grids are marked with different colors. The matrix grids are used to control the speed of the bearing turntable. For example, if point A is in the green area, it means that the bending radius of the submarine cable meets the requirements, and the bearing turntable rotation speed matches the submarine cable laying speed; if point A is in the blue area, it means that the bending radius of the submarine cable is large, and the bearing turntable rotation speed is less than the submarine cable laying speed; if point A is in the yellow area, it means that the bending radius of the submarine cable is small, and the bearing turntable rotation speed is greater than the submarine cable laying speed. The virtual bearing turntable and the matrix grid with marked colors can also be projected onto the submarine cable on the bearing turntable, and the color of the matrix grid where point A is located can be observed to determine whether the rotation speed of the bearing turntable matches the submarine cable laying speed, and the rotation speed of the bearing turntable can be controlled.

[0042] The color marking of the matrix grid is related to the height difference H. When the number of layers of the submarine cable on the bearing turntable changes, the height difference H will change, so the matrix grid changes frequently. Figure 4 As shown, according to the number of stacked layers of submarine cables on the bearing turntable, several sections are divided in the height direction. Each section includes several layers of submarine cables, such as 3 layers of submarine cables. The color of the matrix grids in each section remains unchanged, and the change of the section will cause the color of the matrix grids to change. Therefore, the green grids of the matrix grids in each section need to simultaneously meet the range of the height difference H corresponding to the submarine cables in the section, and the bending radius of the submarine cable is always within the appropriate range, so that the output speed of the bearing turntable submarine cable matches the laying speed of the submarine cable.

[0043] As the bearing turntable rotates, point A will move in radial and circumferential directions, but it always moves within a certain area. When dividing the matrix into small grids, a fan-shaped matrix can be used. The laying area of ​​the submarine cable on the bearing turntable is annular. The difference between the outer diameter and the inner diameter is recorded as L. L is divided into T segments, that is, divided into T circles. Figure 4 In the middle, T=5, each circle is divided into a number of small grids, each small grid is a sector, and the length of the long arc side 6 of the sector-shaped small grid is (Mmax-Mmin) / 3. The two side edges of the sector are arranged radially.

[0044] Embodiment 1: The method for identifying and controlling the line type of a submarine cable provided by the present invention comprises the following steps:

[0045] Step 1: Determine the bending stiffness EI and line density ρ of the submarine cable, establish the catenary equation of the submarine cable between point A and point B; determine the minimum allowable bending radius Rmin and the maximum bending radius Rmax of the submarine cable;

[0046] Step 2: Set a distance meter above the submarine cable to measure the height of the submarine cable at the layer where point A is located, and calculate the height difference H between point A and point B. Calculate the horizontal distances Mmin and Mmax between point A and point B corresponding to Rmin and Rmax respectively according to the catenary equation of the submarine cable; preset M1 and M2, and divide the set (Mmin, Mmax) into three subsets (Mmin, M1), [M1, M2], (M2, Mmax), where Mmin<M1<M2<Mmax;

[0047] Step 3: Collect the submarine cable image by the image acquisition device installed above the submarine cable, and calculate the distance M between point A and point B; if M∈(Mmin,M1), reduce the rotation speed of the load-bearing turntable; if M∈[M1,M2], match the rotation speed of the load-bearing turntable with the submarine cable laying speed; if M∈(M2,Mmax), increase the rotation speed of the load-bearing turntable.

[0048] Embodiment 2: The method for identifying and controlling the line type of a submarine cable provided by the present invention comprises the following steps:

[0049] Step 1: Determine the bending stiffness EI and line density ρ of the submarine cable, establish the catenary equation of the submarine cable between point A and point B; determine the minimum allowable bending radius Rmin and the maximum bending radius Rmax of the submarine cable;

[0050] Step 2: Set a distance meter above the submarine cable to measure the height of the submarine cable at the layer where point A is located, and calculate the height difference H between point A and point B. Calculate the horizontal distances Mmin and Mmax between point A and point B corresponding to Rmin and Rmax respectively according to the catenary equation of the submarine cable; preset M1 and M2, and divide the set (Mmin, Mmax) into three subsets (Mmin, M1), [M1, M2], (M2, Mmax), where Mmin<M1<M2<Mmax;

[0051] A plane model of the bearing turntable and the back-torsion frame is set in the computer, and several circles are drawn along the radial direction of the plane model of the bearing turntable, and several grids are drawn in each circle to form a matrix grid; the horizontal distance between the matrix grid and point B is recorded as M', and if Mmin<M'<Mmax, the matrix grid is marked with a color for distinction;

[0052] If M'∈(Mmin,M1), the matrix grid is marked with the first color; if M'∈[M1,M2], the matrix grid is marked with the second color; if M'∈(M2,Mmax), the matrix grid is marked with the third color;

[0053] The submarine cable image is collected by an image acquisition device arranged above the submarine cable, and the position of point A is merged with the matrix grid. If the matrix grid corresponding to point A is the first color, the rotation speed of the load-bearing turntable is reduced; if the matrix grid corresponding to point A is the second color, the rotation speed of the load-bearing turntable is matched with the submarine cable laying speed; if the matrix grid corresponding to point A is the third color, the rotation speed of the load-bearing turntable is increased.

[0054] Compared with the first embodiment, the matrix cells marked with colors in the second embodiment can be displayed on a display, which is more intuitive and convenient for management personnel to view.

[0055] Embodiment 3: The method for identifying and controlling the line type of a submarine cable provided by the present invention comprises the following steps:

[0056] Step 1: Determine the bending stiffness EI and line density ρ of the submarine cable, establish the catenary equation of the submarine cable between point A and point B; determine the minimum allowable bending radius Rmin and the maximum bending radius Rmax of the submarine cable;

[0057] Step 2: Set a distance meter above the submarine cable to measure the height of the submarine cable at the layer where point A is located, and calculate the height difference H between point A and point B. Calculate the horizontal distances Mmin and Mmax between point A and point B corresponding to Rmin and Rmax respectively according to the catenary equation of the submarine cable; preset M1 and M2, and divide the set (Mmin, Mmax) into three subsets (Mmin, M1), [M1, M2], (M2, Mmax), where Mmin<M1<M2<Mmax;

[0058] A plane model of the bearing turntable and the back-torsion frame is set in the computer, and several circles are drawn along the radial direction of the plane model of the bearing turntable, and several grids are drawn in each circle to form a matrix grid; the horizontal distance between the matrix grid and point B is recorded as M', and if Mmin<M'<Mmax, the matrix grid is marked with a color for distinction;

[0059] If M'∈(Mmin,M1), the matrix grid is marked with the first color; if M'∈[M1,M2], the matrix grid is marked with the second color; if M'∈(M2,Mmax), the matrix grid is marked with the third color;

[0060] A projection device is set above the submarine cable, and the rectangular grids marked with colors in the computer are projected onto the submarine cable in proportion. The speed of the load-bearing turntable is controlled by the color of the matrix grid corresponding to point A. If the matrix grid corresponding to point A is the first color, the rotation speed of the load-bearing turntable is reduced; if the matrix grid corresponding to point A is the second color, the rotation speed of the load-bearing turntable is matched with the submarine cable laying speed; if the matrix grid corresponding to point A is the third color, the rotation speed of the load-bearing turntable is increased.

[0061] Compared with the first and second embodiments, the matrix cells marked with colors in the third embodiment can be projected onto the submarine cable carrying the turntable by a projector, so as to facilitate viewing by on-site construction personnel.

[0062] Embodiment 4: The method for identifying and controlling the line type of a submarine cable provided in this embodiment is different from that in Embodiments 1, 2 and 3 in that step 3 in Embodiments 1, 2 and 3 is replaced by:

[0063] According to the number of stacked layers of submarine cables on the bearing turntable, a number of sections are divided in the height direction, and each section includes a number of layers of submarine cables;

[0064] Determine in advance the cable height range of each section and the maximum height difference H1 and minimum height difference H2 of each section; calculate the horizontal distances Mmin1 and Mmax1 between points A and B corresponding to Rmin and Rmax respectively at H1, and the horizontal distances Mmin2 and Mmax2 between points A and B corresponding to Rmin and Rmax respectively at H2 according to the catenary equation of the cable; take Mmax=min(Mmax1,Mmax2), Mmin=max(Mmin1,Mmin2);

[0065] Preset M1 and M2, and divide the set (Mmin, Mmax) into three subsets (Mmin, M1), [M1, M2], (M2, Mmax), where Mmin<M1<M2<Mmax;

[0066] According to the distance meter installed above the submarine cable, the height of the submarine cable at the layer where point A is located is measured to determine the section of the submarine cable height range that the submarine cable height falls into. The set (Mmin, Mmax) and the corresponding three subsets (Mmin, M1), [M1, M2], (M2, Mmax) corresponding to the section are selected as the basis for the calculation in step three.

[0067] Compared with the first, second and third embodiments, the fourth embodiment divides the submarine cable into several sections along the height, thereby reducing the frequency of changes in the set (Mmin, Mmax) and the frequency of adjusting the speed of the bearing turntable.

[0068] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0069] The above-mentioned embodiments only express several implementation modes of the present invention, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the scope of the invention. It should be pointed out that, for a person of ordinary skill in the art, several modifications and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the attached claims.

Claims

1. A method for identifying and controlling a submarine cable line type, characterized in that: The submarine cable is transported from the bearing turntable to the back-twist frame. The submarine cable on the bearing turntable includes several layers, each of which is spirally wound. The point where the submarine cable leaves the bearing turntable is marked as point A, and the contact point at the end of the back-twist frame is marked as point B. The submarine cable line type identification and control method includes the following steps: Step 1: Determine the bending stiffness EI and line density ρ of the submarine cable, establish the catenary equation of the submarine cable between point A and point B, and determine the minimum allowable bending radius Rmin and the maximum bending radius Rmax of the submarine cable; Step 2: Set a distance meter above the submarine cable to measure the height of the submarine cable at the layer where point A is located, and calculate the height difference H between point A and point B. Calculate the horizontal distances Mmin and Mmax between point A and point B corresponding to Rmin and Rmax respectively according to the catenary equation of the submarine cable; preset M1 and M2, and divide the set (Mmin, Mmax) into three subsets (Mmin, M1), [M1, M2], (M2, Mmax), where Mmin<M1<M2<Mmax; Step 3: collect the submarine cable image by an image acquisition device arranged above the submarine cable, and calculate the distance M between point A and point B; If M∈(Mmin,M1), the rotation speed of the load-bearing turntable is reduced; if M∈[M1,M2], the rotation speed of the load-bearing turntable is matched with the submarine cable laying speed; if M∈(M2,Mmax), the rotation speed of the load-bearing turntable is increased.

2. The method for identifying and controlling the line type of a submarine cable according to claim 1, characterized in that: Replace step 3 with: A plane model of the bearing turntable and the back-torsion frame is set in the computer, and several circles are drawn along the radial direction of the plane model of the bearing turntable, and several grids are drawn in each circle to form a matrix grid; the horizontal distance between the matrix grid and point B is recorded as M', and if Mmin<M'<Mmax, the matrix grid is marked with a color for distinction; If M'∈(Mmin,M1), the matrix grid is marked with the first color; if M'∈[M1,M2], the matrix grid is marked with the second color; if M'∈(M2,Mmax), the matrix grid is marked with the third color; The submarine cable image is collected by an image acquisition device arranged above the submarine cable, and the position of point A is merged with the matrix grid. If the matrix grid corresponding to point A is the first color, the rotation speed of the load-bearing turntable is reduced; if the matrix grid corresponding to point A is the second color, the rotation speed of the load-bearing turntable is matched with the submarine cable laying speed; if the matrix grid corresponding to point A is the third color, the rotation speed of the load-bearing turntable is increased.

3. The method for identifying and controlling the line type of a submarine cable according to claim 1, characterized in that: Replace step 3 with: A plane model of the bearing turntable and the back-torsion frame is set in the computer, and several circles are drawn along the radial direction of the plane model of the bearing turntable, and several grids are drawn in each circle to form a matrix grid; the horizontal distance between the matrix grid and point B is recorded as M', and if Mmin<M'<Mmax, the matrix grid is marked with a color for distinction; If M'∈(Mmin,M1), the matrix grid is marked with the first color; if M'∈[M1,M2], the matrix grid is marked with the second color; if M'∈(M2,Mmax), the matrix grid is marked with the third color; A projection device is set above the submarine cable, and the rectangular grids marked with colors in the computer are projected onto the submarine cable in proportion. The speed of the load-bearing turntable is controlled by the color of the matrix grid corresponding to point A. If the matrix grid corresponding to point A is the first color, the rotation speed of the load-bearing turntable is reduced; if the matrix grid corresponding to point A is the second color, the rotation speed of the load-bearing turntable is matched with the submarine cable laying speed; if the matrix grid corresponding to point A is the third color, the rotation speed of the load-bearing turntable is increased.

4. The method for identifying and controlling the line type of a submarine cable according to any one of claims 1 to 3, characterized in that: M1=Mmin+ΔM / 3; M2=Mmax-ΔM / 3; ΔM=Mmax-Mmin.

5. The method for identifying and controlling the line type of a submarine cable according to any one of claims 1 to 3, characterized in that: Each matrix grid is in the shape of a sector, the length of the long arc side of the sector grid is (Mmax-Mmin) / 3, and the other two edges of the sector are radially arranged along the bearing turntable.

6. The method for identifying and controlling the line type of a submarine cable according to any one of claims 1 to 3, characterized in that: Replace step 2 with: According to the number of stacked layers of submarine cables on the bearing turntable, a number of sections are divided in the height direction, and each section includes a number of layers of submarine cables; Determine in advance the cable height range of each section and the maximum height difference H1 and minimum height difference H2 of each section; calculate the horizontal distances Mmin1 and Mmax1 between points A and B corresponding to Rmin and Rmax respectively at H1, and the horizontal distances Mmin2 and Mmax2 between points A and B corresponding to Rmin and Rmax respectively at H2 according to the catenary equation of the cable; take Mmax=min(Mmax1,Mmax2), Mmin=max(Mmin1,Mmin2); Preset M1 and M2, and divide the set (Mmin, Mmax) into three subsets (Mmin, M1), [M1, M2], (M2, Mmax), where Mmin<M1<M2<Mmax; According to the distance meter installed above the submarine cable, the height of the submarine cable at the layer where point A is located is measured, and the section of the submarine cable height range that the submarine cable height falls into is determined. The set (Mmin, Mmax) corresponding to the section and the corresponding three subsets (Mmin, M1), [M1, M2], and (M2, Mmax) are selected.

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