Observation-level underwater robot umbilical cable management system

Abstract

The invention discloses an observation-level underwater robot umbilical cable management system which comprises a mechanical flow meter, a camera, a depth meter, a steel cable winch, a locking motor, an underwater illuminating lamp, an ROV umbilical cable tensioner and an underwater robot umbilical cable. A steel cable winch is arranged at the top of the umbilical cable management system; the mechanical flow meter, the camera, the depth meter, the locking motor, the underwater illuminating lamp and the ROV umbilical cable tensioner are all mounted in the umbilical cable management system; the umbilical cable of the underwater robot penetrates through the umbilical cable management system from top to bottom and sequentially penetrates out of the ROV umbilical cable tensioner and the locking motor in the umbilical cable management system, and after the umbilical cable of the underwater robot penetrates out of the lower portion of the umbilical cable management system, the lower end of the umbilical cable of the underwater robot is connected with the underwater robot. By using the umbilical cable management system, the observation-level underwater robot can carry out underwater operation under the condition that the sea condition is relatively severe, and the applicability of the observation-level underwater robot in operation in the ocean can be improved.

Description

Technical Field

[0001] The present invention relates to the design of an umbilical cable management system for an underwater robot, and specifically, to an umbilical cable management system for an observation-class underwater robot. Background Art

[0002] An underwater robot (Remote Operated Vehicle, also known as a remotely operated underwater vehicle, hereinafter referred to as ROV), as an indispensable part of marine equipment, plays an irreplaceable role in various engineering applications.

[0003] ROVs can be classified into light observation-class, light work-class, medium work-class, and heavy work-class according to the operating depth and function. Light observation-class and light work-class ROVs weigh about 10 kg to 30 kg. These two types of robots mainly work in the water environment of 0 m to 300 m. They are mainly used for inland river, lake surveying and mapping, hydropower station and dock dam inspection, large bridge pier inspection, and urban sewage pipeline inspection, etc.

[0004] The biggest feature of ROVs compared to other submersibles is that they transmit power and signals to the onshore unit through an umbilical cable. Due to differences in operating depth, functional modules, size, material selection, etc., and no industry standard has been formed, most ROVs choose umbilical cables of different sizes and materials.

[0005] Currently, the ROV umbilical cable management system (Tether Management System, hereinafter referred to as TMS), that is, the existing ROV repeater, is mainly an underwater cage-type or cap-type device with a cable storage function. It is expensive, has a complex structure, and is all special-purpose, making it difficult to accommodate other models of ROVs. Summary of the Invention

[0006] The purpose of the present invention is to provide a system for managing the umbilical cable of an underwater robot, which can solve the difficulty for small ROVs to operate in the ocean, thereby solving the problem that the umbilical cable affects the operation of the ROV under the action of ocean currents during ROV operation.

[0007] To achieve the above object, the present invention provides an umbilical cable management system for an observation-class underwater robot. The umbilical cable management system includes a mechanical current meter, a camera, a depth gauge, a steel cable winch, a locking motor, an underwater lighting lamp, an ROV umbilical cable tensioner, and an umbilical cable for the underwater robot. The steel cable winch is provided at the top of the umbilical cable management system. The mechanical current meter, the camera, the depth gauge, the locking motor, the underwater lighting lamp, and the ROV umbilical cable tensioner are all installed inside the umbilical cable management system. The umbilical cable for the underwater robot passes through the umbilical cable management system from top to bottom, and successively passes through the ROV umbilical cable tensioner and the locking motor inside the umbilical cable management system. After the umbilical cable for the underwater robot passes out from the lower part of the umbilical cable management system, the lower end is connected to the underwater robot.

[0008] In the above-mentioned umbilical cable management system for an observation-class underwater robot, a mechanical current meter for measuring the sea current speed in the area where it is located is installed above the interior of the umbilical cable management system.

[0009] In the above-mentioned umbilical cable management system for an observation-class underwater robot, the steel cable winch provided at the top of the umbilical cable management system has a twisted pair communication line inside the steel cable.

[0010] In the above-mentioned umbilical cable management system for an observation-class underwater robot, the lower end of the twisted pair communication line in the steel cable is connected to the depth gauge and the camera provided inside the umbilical cable management system, and the depth gauge and the camera are suspended inside the umbilical cable management system by cables.

[0011] In the above-mentioned umbilical cable management system for an observation-class underwater robot, the depth gauge displays the depth of the umbilical cable management system underwater. The camera is installed at one end of the depth gauge facing the ROV umbilical cable tensioner and observes the internal structure of the umbilical cable management system in real time.

[0012] In the above-mentioned umbilical cable management system for an observation-class underwater robot, the locking motor inside the umbilical cable management system is provided below the ROV umbilical cable tensioner and on both sides of the umbilical cable for the underwater robot. The locking motor locks and unlocks the umbilical cable for the underwater robot to perform the locking, retracting, and releasing of the underwater robot. There are double latches provided between the upper part of the underwater robot and the lower part of the umbilical cable management system, and the locking motor locks the double latch mechanism.

[0013] In the above-mentioned umbilical cable management system for an observation-class underwater robot, the ROV umbilical cable tensioner has the function of tensioning the umbilical cable. It retracts and releases the umbilical cable for the underwater robot through the ROV umbilical cable tensioner and separates the forces on the upper and lower umbilical cables of the umbilical cable management system.

[0014] The above-mentioned observation-class underwater robot umbilical cable management system, wherein the ROV umbilical cable tensioner is arranged on one side inside the umbilical cable management system, and the mechanical current meter, camera, and depth gauge are arranged on the other side; an area for adding counterweights is reserved inside the umbilical cable management system.

[0015] The above-mentioned observation-class underwater robot umbilical cable management system, wherein the underwater lighting lamps are symmetrically arranged on both sides of the bottom end inside the umbilical cable management system and are located below the locking motor. The underwater lighting lamps are used for lighting the underwater robot at night.

[0016] The present invention also provides a method for using the above-mentioned observation-class underwater robot umbilical cable management system. When using the umbilical cable management system, the underwater robot is locked below the umbilical cable management system. The umbilical cable management system and the underwater robot are lifted and placed underwater by a crane suspending a steel cable winch. Observe the sea current data measured by the mechanical current meter. When the sea current meets the operating conditions of the underwater robot, operate the locking motor to unlock the lock of the underwater robot, and the underwater robot flies out for operation. The underwater robot flies out by operating the structure of the ROV umbilical cable tensioner to pull the underwater robot umbilical cable from above the umbilical cable management system to the lower side of the umbilical cable management system. The surface operator operates the underwater robot umbilical cable winch to perform corresponding cable releasing work according to the actions of the umbilical cable management system. The entire process observes the corresponding actions of the lock and the ROV umbilical cable tensioner through the camera inside the umbilical cable management system. After the underwater robot finishes its operation, operate the ROV umbilical cable tensioner again to retract the underwater robot umbilical cable from the lower side of the umbilical cable management system to the water surface. The surface operator correspondingly operates the underwater robot umbilical cable to keep the underwater robot umbilical cable in a non-relaxed state. When the underwater robot approaches the umbilical cable management system, continuously retract the underwater robot umbilical cable to pull the lock of the underwater robot into the lock inside the umbilical cable management system. Operate the locking motor to lock the underwater robot below the umbilical cable management system, and the recovery steel cable winch retrieves the umbilical cable management system to the water surface. The underwater robot umbilical cable above the umbilical cable management system is kept in a non-relaxed state throughout the entire process.

[0017] The observation-class underwater robot umbilical cable management system provided by the present invention has the following advantages:

[0018] The umbilical cable management system (TMS) of the present invention mainly includes an ROV locking body structure and other electric control structures. This system has the functions of TMS depth measurement and flow velocity measurement, and can confirm whether the underwater flow velocity meets the operating conditions of the ROV itself; this system also has the functions of camera and lighting, and can meet the requirements of all-weather operation; the ROV lock adopts a double-lock mechanism, which can improve the locking reliability between the ROV and the TMS; a tensioner structure is designed inside the TMS, which uses the tensioner to retract and release the ROV umbilical cable, and separates the forces on the upper and lower umbilical cables of the TMS.

[0019] Using this umbilical cable management system can help the observation-class underwater robot to carry out underwater operations in sea conditions with relatively harsh sea conditions, can increase the applicability of the observation robot in ocean operations, and currently no similar equipment has been seen. Brief Description of the Drawings

[0020] Figure 1 It is a schematic diagram of the structural composition of the umbilical cable management system of the observation-class underwater robot of the present invention.

[0021] Wherein: 1. Mechanical flowmeter; 2. Camera; 3. Depth gauge; 4. Steel cable winch; 5. Locking motor; 6. Underwater lighting lamp; 7. ROV umbilical cable tensioner; 8. Underwater robot umbilical cable. Detailed Embodiment

[0022] The following further describes the detailed embodiment of the present invention with reference to the drawings.

[0023] As Figure 1 shown, the umbilical cable management system of the observation-class underwater robot provided by the present invention includes a mechanical flowmeter 1, a camera 2, a depth gauge 3, a steel cable winch 4, a locking motor 5, an underwater lighting lamp 6, an ROV umbilical cable tensioner 7, and an underwater robot umbilical cable 8; the umbilical cable management system is provided with a frame, and the steel cable winch 4 is arranged at the top of the frame; the mechanical flowmeter 1, the camera 2, the depth gauge 3, the locking motor 5, the underwater lighting lamp 6, and the ROV umbilical cable tensioner 7 are all installed inside the frame of the umbilical cable management system; the underwater robot umbilical cable 8 passes through the frame of the umbilical cable management system from top to bottom, and sequentially passes through the ROV umbilical cable tensioner 7 and the locking motor 5 inside the umbilical cable management system. After the underwater robot umbilical cable 8 passes out from the lower part of the umbilical cable management system, the lower end is then connected to the underwater robot.

[0024] A mechanical flowmeter 1 for measuring the sea current velocity in the area is installed above the inside of the umbilical cable management system.

[0025] The steel cable winch 4 arranged at the top of the umbilical cable management system has a twisted pair communication line inside its steel cable.

[0026] The twisted pair communication line in the steel cable is connected to the depth gauge 3 and the camera 2 arranged inside the umbilical cable management system at the lower end. The depth gauge 3 and the camera 2 are suspended inside the umbilical cable management system by cables.

[0027] The depth gauge 3 shows the depth of the umbilical cable management system underwater; the camera 2 is installed at one end of the depth gauge 3 facing the ROV umbilical cable tensioner 7 and observes the internal structure of the umbilical cable management system in real time.

[0028] The locking motor 5 inside the umbilical cable management system is arranged below the ROV umbilical cable tensioner 7 and on both sides of the underwater robot umbilical cable 8; the locking motor 5 locks and unlocks the underwater robot umbilical cable 8 to perform the locking and retracting of the underwater robot; double latches are provided on the upper part of the underwater robot and the lower part of the umbilical cable management system, and the locking motor 5 locks the double latch mechanism.

[0029] The ROV umbilical cable tensioner 7 has the function of tensioning the umbilical cable, retracts and releases the underwater robot umbilical cable 8 through the ROV umbilical cable tensioner 7, and separates the forces on the upper umbilical cable and the lower umbilical cable of the umbilical cable management system.

[0030] The ROV umbilical cable tensioner 7 is arranged on one side inside the umbilical cable management system, and the mechanical flowmeter 1, the camera 2, and the depth gauge 3 are arranged on the other side; an area for adding counterweights is reserved inside the umbilical cable management system.

[0031] The underwater lighting lamps 6 are symmetrically arranged on both sides of the bottom end inside the umbilical cable management system and below the locking motor 5. The underwater lighting lamps 6 are used for lighting the underwater robot at night.

[0032] The present invention also provides a method for using the umbilical cable management system of the observation-class underwater robot. When using the umbilical cable management system, the underwater robot is locked below the umbilical cable management system. The steel cable winch 4 is suspended by a crane, and the umbilical cable management system and the underwater robot are lowered into the water. Observe the sea current data measured by the mechanical current meter 1. When the sea current meets the operating conditions of the underwater robot, operate the locking motor 5 to unlock the lock of the underwater robot, and the underwater robot flies out for operation. The underwater robot flies out by operating the structure of the ROV umbilical cable tensioner 7, pulling the underwater robot umbilical cable 8 from above the umbilical cable management system to the lower side of the umbilical cable management system. The surface operator operates the underwater robot umbilical cable 8 winch to perform corresponding cable-laying work according to the actions of the umbilical cable management system. The entire process observes the corresponding actions of the lock and the ROV umbilical cable tensioner 7 through the camera 2 inside the umbilical cable management system. After the underwater robot completes its operation, operate the ROV umbilical cable tensioner 7 again to retract the underwater robot umbilical cable 8 from the lower side of the umbilical cable management system to the water surface. The surface operator correspondingly operates the underwater robot umbilical cable 8 to keep the underwater robot umbilical cable 8 in a non-relaxed state. When the underwater robot approaches the umbilical cable management system, continuously retract the underwater robot umbilical cable 8 to pull the lock of the underwater robot into the lock inside the umbilical cable management system. Operate the locking motor 5 to lock the underwater robot below the umbilical cable management system, and recover the steel cable winch 4 to recover the umbilical cable management system to the water surface. Throughout the entire process, the underwater robot umbilical cable 8 above the umbilical cable management system is kept in a non-relaxed state.

[0033] The following further describes the umbilical cable management system of the observation-class underwater robot provided by the present invention in conjunction with embodiments.

[0034] Embodiment 1

[0035] An umbilical cable management system (TMS) for an observation-class underwater robot (ROV) includes a mechanical current meter 1, a camera 2, a depth gauge 3, a steel cable winch 4, a locking motor 5, an underwater lighting lamp 6, an ROV umbilical cable tensioner 7, and an underwater robot umbilical cable 8.

[0036] The steel cable winch 4 is provided at the top of the umbilical cable management system; the mechanical current meter 1, the camera 2, the depth gauge 3, the locking motor 5, the underwater lighting lamp 6, and the ROV umbilical cable tensioner 7 are all installed inside the umbilical cable management system.

[0037] The underwater robot umbilical cable 8 passes through the umbilical cable management system from top to bottom, and successively passes through the ROV umbilical cable tensioner 7 and the locking motor 5 inside the umbilical cable management system. After the underwater robot umbilical cable 8 passes out from below the umbilical cable management system, the lower end is then connected to the underwater robot.

[0038] A mechanical current meter 1 is installed above the interior of the umbilical cable management system for measuring the sea current velocity in the TMS area.

[0039] A wire rope winch 4 is provided at the top of the umbilical cable management system, and there is a twisted pair communication line inside the wire rope.

[0040] The lower end of the twisted pair communication line is connected to a depth gauge 3 and a camera 2 provided inside the umbilical cable management system. The depth gauge 3 and the camera 2 are suspended inside the umbilical cable management system by cables. The camera 2 observes the internal structure of the TMS in real time. The camera 2 is installed at one end of the depth gauge 3 facing the ROV umbilical cable tensioner 7 for displaying the depth of the underwater location of the TMS.

[0041] The depth gauge 3 and the mechanical current meter 1 enable the umbilical cable management system to have the functions of depth measurement and current velocity measurement, and can confirm whether the underwater current velocity meets the operating conditions of the ROV itself.

[0042] A locking motor 5 inside the umbilical cable management system is provided below the ROV umbilical cable tensioner 7 and on both sides of the underwater robot umbilical cable 8; the locking motor 5 is used to perform the unlocking and locking operations of the underwater robot lock. Double latches are provided between the upper part of the underwater robot and the lower part of the umbilical cable management system, and the locking motor 5 locks the double latch mechanism. The double lock mechanism adopted by the ROV latch can improve the locking reliability between the ROV and the TMS.

[0043] The ROV umbilical cable tensioner 7 has the function of tensioning the umbilical cable. The interior of the umbilical cable management system is designed with a tensioner structure to take in and release the ROV umbilical cable by the tensioner and separate the forces on the upper and lower umbilical cables of the TMS. The ROV umbilical cable tensioner 7 is provided on one side inside the umbilical cable management system, and the mechanical current meter 1, the camera 2, and the depth gauge 3 are provided on the other side.

[0044] Underwater lighting lamps 6 are symmetrically provided on both sides of the bottom end inside the umbilical cable management system and below the locking motor 5. The underwater lighting lamps 6 are used for lighting when the underwater robot returns to the TMS at night.

[0045] The camera 2 and the underwater lighting lamps 6 enable the umbilical cable management system to have the functions of imaging and lighting, and can meet the requirements of all-weather operations.

[0046] The umbilical cable management system (TMS) mainly includes an ROV lock body structure and other electric control structures. Preferably, it weighs 25 kg, and there is also a reserved area inside for adding counterweights.

[0047] Embodiment 2

[0048] A method for using a umbilical cable management system (TMS) of an observation-class remotely operated underwater vehicle (ROV). When the TMS is working, the ROV is locked below the TMS. The TMS and the ROV are lifted and placed underwater by a crane hoisting a steel cable winch. The sea current data measured by a current meter is observed. If the sea current meets the operating conditions of the ROV, the locking motor is operated to unlock the ROV latch. The ROV flies out for operation. The ROV flies out by operating the tensioner structure to pull the umbilical cable from the upper part of the TMS to the lower side of the TMS. The surface operator operates the ROV umbilical cable winch to pay out the cable correspondingly according to the actions of the TMS. The corresponding actions of the latch and the tensioner are observed through the camera inside the TMS during the whole process. After the ROV finishes the operation, the tensioner is operated to retract the ROV umbilical cable from the lower side of the TMS to the water surface. The surface operator operates the ROV umbilical cable correspondingly to keep the ROV umbilical cable in a non-relaxed state. When the ROV approaches the TMS, the umbilical cable is continuously retracted to pull the ROV latch into the TMS latch. The locking motor is operated to lock the ROV below the TMS. The steel cable winch is recovered to lift the TMS to the water surface. The umbilical cable on the upper side of the TMS is kept in a non-relaxed state throughout the whole process.

[0049] The umbilical cable management system of the observation-class remotely operated underwater vehicle provided by the present invention uses a TMS with a certain weight to lower the TMS and the ROV to a specified depth, avoiding the submersible operation of the ROV in the splash zone affected by the surface current of the sea. The small observation-class ROV can be lowered near the working water depth. The tensioner clamps the umbilical cable, eliminating the resistance generated by the sea current on the umbilical cable on the upper side of the TMS, greatly reducing the mooring resistance received by the ROV during operation, and increasing the operation ability of the observation-class ROV in the ocean.

[0050] Although the content of the present invention has been introduced in detail through the above preferred embodiments, it should be recognized that the above description should not be considered as a limitation to the present invention. After those skilled in the art have read the above content, various modifications and alternatives to the present invention will be obvious. Therefore, the protection scope of the present invention should be defined by the appended claims.

Claims

1. An umbilical cable management system for an observation-level underwater robot, characterized in that: The umbilical cable management system includes a mechanical current meter, a camera, a depth meter, a steel cable winch, a locking motor, an underwater lighting, an ROV umbilical cable tensioner, and an underwater robot umbilical cable; The umbilical cable management system is provided with a steel cable winch on the top; The mechanical current meter, camera, depth gauge, locking motor, underwater lighting, and ROV umbilical cable tensioner are all installed inside the umbilical cable management system; The underwater robot umbilical cable passes through the umbilical cable management system from top to bottom, and passes through the ROV umbilical cable tensioner and the locking motor in the umbilical cable management system in sequence. After the underwater robot umbilical cable passes through the bottom of the umbilical cable management system, the lower end is connected to the underwater robot.

2. The observation-level underwater robot umbilical cable management system according to claim 1, characterized in that: The umbilical cable management system has a mechanical current meter installed on the upper part thereof for measuring the ocean current velocity in the area.

3. The observation-level underwater robot umbilical cable management system according to claim 2, characterized in that: The umbilical cable management system has a steel cable winch arranged on the top, and a twisted pair communication line is arranged inside the steel cable.

4. The observation-level underwater robot umbilical cable management system according to claim 3, characterized in that: The lower end of the twisted pair communication line of the steel cable is connected to a depth meter and a camera arranged inside the umbilical cable management system, and the depth meter and the camera are suspended inside the umbilical cable management system through cables.

5. The observation-level underwater robot umbilical cable management system according to claim 4, characterized in that: The depth gauge displays the underwater depth of the umbilical cable management system; the camera is installed at one end of the depth gauge facing the ROV umbilical cable tensioner, and observes the internal structure of the umbilical cable management system in real time.

6. The observation-level underwater robot umbilical cable management system according to claim 5, characterized in that: The umbilical cable management system has an internal locking motor arranged below the ROV umbilical cable tensioner and located on both sides of the umbilical cable of the underwater robot; the locking motor performs locking and retracting of the underwater robot by unlocking and locking the umbilical cable of the underwater robot; a double lock is provided on the upper part of the underwater robot and the lower part of the umbilical cable management system, and the locking motor locks the double lock mechanism.

7. The observation-level underwater robot umbilical cable management system according to claim 6, characterized in that: The ROV umbilical cable tensioner has the function of umbilical cable tensioning. The umbilical cable of the underwater robot is retracted and released by the ROV umbilical cable tensioner, and the forces of the upper umbilical cable and the lower umbilical cable of the umbilical cable management system are separated.

8. The observation-level underwater robot umbilical cable management system according to claim 7, characterized in that: The ROV umbilical cable tensioner is arranged on one side of the interior of the umbilical cable management system, and the mechanical flow meter, camera, and depth gauge are arranged on the other side; an area for adding counterweight is also reserved inside the umbilical cable management system.

9. The observation-class underwater robot umbilical cable management system according to claim 1, characterized in that: The underwater lighting lamps are symmetrically arranged on both sides of the bottom end inside the umbilical cable management system and are located below the locking motor. The underwater lighting lamps are used for nighttime lighting of the underwater robot.

10. A method for using the umbilical cable management system of an observation-class underwater robot according to any one of claims 1 to 9, characterized in that: The method described is that when using the umbilical cable management system, the underwater robot is locked under the umbilical cable management system, and the umbilical cable management system and the underwater robot are lowered into the water by a crane hanging a steel cable winch, and the ocean current data measured by the mechanical current meter is observed. When the ocean current meets the operating conditions of the underwater robot, the locking motor is operated to unlock the lock of the underwater robot, and the underwater robot flies out to operate. The underwater robot flies out by operating the structure of the ROV umbilical cable tensioner to pull the underwater robot umbilical cable from the top of the umbilical cable management system to the bottom of the umbilical cable management system. The surface operator operates the underwater robot umbilical cable winch to perform the corresponding cable release work according to the action of the umbilical cable management system. The whole process is completed through the umbilical cable management system. The camera on the upper part observes the corresponding actions of the lock and the ROV umbilical cable tensioner. After the underwater robot operation is completed, the ROV umbilical cable tensioner is operated to retract the underwater robot umbilical cable from the bottom of the umbilical cable management system to the water surface, and the surface operator operates the underwater robot umbilical cable accordingly to keep the underwater robot umbilical cable in a tight state; when the underwater robot approaches the umbilical cable management system, the underwater robot umbilical cable is continuously retracted, the underwater robot lock is pulled into the lock of the umbilical cable management system, the locking motor is operated to lock the underwater robot under the umbilical cable management system, and the recovery cable winch recycles the umbilical cable management system to the water surface. During the whole process, the underwater robot umbilical cable above the umbilical cable management system is always kept in a tight state.

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