Underwater robot cable self-adaptive take-up and pay-off system and method

Abstract

The invention relates to the technical field of ocean engineering, and discloses an underwater robot cable self-adaptive take-up and pay-off system and method.The underwater robot cable self-adaptive take-up and pay-off system comprises an unpowered buoy unit, an underwater robot unit, a winding mechanism and an intelligent tensioning control module, and the unpowered buoy unit is arranged on the water surface and bears a wireless communication module; the underwater robot unit is connected with the unpowered buoy unit through an umbilical cable, the winding mechanism is coaxially integrated on the unpowered buoy unit and used for winding and unwinding the umbilical cable, the intelligent tensioning control module is connected with the winding mechanism, and the intelligent tensioning control module adjusts the tension of the umbilical cable to a preset range in real time through closed-loop control; wherein the unpowered buoy unit receives a signal transmitted by the underwater robot unit through the umbilical cable, and interacts with a ground station through the wireless communication module. The length of the umbilical cable in the horizontal direction can be reduced when the robot is laid, so that the overall length and winding risk of the umbilical cable are reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of marine engineering equipment, and in particular to an underwater robot cable adaptive retraction and extension system and method. Background Art

[0002] Current long-endurance underwater robotic vehicles (ROVs) rely on shore-based power and communications, requiring umbilical cables for power transmission and high-speed data exchange. This is due to the severe attenuation of underwater electromagnetic waves and the limited sonar communication rate (typically below 100 kbps). The conflict between ROVs' high power requirements and the insufficient energy density of their batteries further reinforces their reliance on umbilical cables.

[0003] In the traditional layout, the umbilical cable needs to extend horizontally to the shore. In shallow water and wide-area scenarios (such as dam inspection), the umbilical cable is very long. At the same time, the umbilical cable floating on the water surface is easily affected by the lateral drift of the water flow, and may be entangled in hydraulic structures or underwater debris, or even be caught in the ROV thruster, causing the equipment to be trapped or lost.

[0004] To offset the underwater drag of the umbilical cable, the cable must be designed with zero buoyancy. This necessitates the use of large drive units for the retraction and deployment mechanisms, resulting in bulky deployment and low deployment efficiency, making them difficult to adapt to the operational flexibility required. Furthermore, mainstream retraction and deployment mechanisms lack dynamic tension adjustment capabilities, making it impossible to maintain stable umbilical cable tension. Excessive tension can constrain the ROV's movement, while too little increases the risk of entanglement, particularly during horizontal movement or in turbulent water currents. Summary of the Invention

[0005] In view of this, the present invention provides an underwater robot cable adaptive retraction and extension system and method to solve the above-mentioned problems.

[0006] In a first aspect, the present invention provides an underwater robot cable adaptive retraction and extension system, comprising:

[0007] An unpowered buoy unit, which is placed on the water surface and carries a wireless communication module;

[0008] an underwater robot unit connected to the unpowered buoy unit via an umbilical cable;

[0009] a winding mechanism, coaxially integrated with the unpowered buoy unit, for retracting and releasing the umbilical cable;

[0010] an intelligent tensioning control module connected to the winding mechanism, the intelligent tensioning control module adjusting the tension of the umbilical cable to a preset range in real time through closed-loop control;

[0011] The unpowered buoy unit receives the signal transmitted by the underwater robot unit via the umbilical cable, and interacts with the ground station through the wireless communication module.

[0012] The intelligent tensioning control module effectively suppresses tension fluctuations caused by water disturbances through continuous closed-loop adjustment, preventing the umbilical cable from breaking or loosening due to tension overload, leading to entanglement with underwater debris; the coordinated layout of the unpowered buoy unit and the underwater robot unit keeps the umbilical cable in a near-vertical state at all times, eliminating the risk of horizontal drift of the umbilical cable; the coaxial integrated design of the winding mechanism combined with the surface signal coverage capability of the wireless communication module ensures a stable and reliable power supply and communication link, while eliminating the traditional shore-based retraction and deployment mechanism's reliance on horizontally extended cables, enabling lightweight and rapid deployment in complex shallow water scenarios.

[0013] In an optional embodiment, the winding mechanism includes:

[0014] a sealed cabin connected to the unpowered buoy unit and configured to provide buoyancy for the unpowered buoy unit, the sealed cabin having a built-in battery pack;

[0015] A winding barrel, coaxially sleeved on the outside of the sealed cabin;

[0016] A frame is fixed to the outside of the winding barrel, and the wireless communication module is installed on the top of the frame.

[0017] The sealed cabin provides buoyancy for the unpowered buoy unit through its built-in battery pack, allowing the entire unit to float stably on the water surface; the winding barrel is coaxially mounted on the outside of the sealed cabin, and the coaxial layout is used to optimize space utilization, enabling efficient winding and release of the umbilical cable in the radial direction of the sealed cabin; the rack is fixed to the outside of the winding barrel, and the wireless communication module installed on its top ensures that the signal transmitter is always in a high position.

[0018] The integrated design of the sealed cabin's buoyancy bearing and battery pack power supply reduces the structural redundancy of the independent float and power supply; the coaxial sleeve structure of the winding barrel and the sealed cabin compresses the lateral size; the rack serves as a rigid connection carrier between the winding barrel and the wireless communication module.

[0019] In an optional embodiment, the rack adopts a counterweight design with a light top and a heavy bottom to ensure that the wireless communication module always floats upward on the water surface.

[0020] By reducing the mass of the upper structure of the rack and increasing the lower counterweight, the overall center of gravity of the rack is lowered. When the unpowered buoy unit floats on the water surface, the righting torque generated by the coupling of gravity and buoyancy drives the rack to automatically rotate to a vertical posture, ensuring that the wireless communication module fixed on the top of the rack always floats upward out of the water.

[0021] The wireless communication module is continuously exposed above the water surface to avoid signal interruption due to the capsizing of the float or wave turbulence, ensuring the real-time data interaction between the underwater robot unit and the ground station; the counterweight design simultaneously improves the frame's ability to resist lateral water flow impact, suppresses the abnormal swing of the unpowered buoy unit when the underwater robot unit is dragged at a variable speed or in a turbulent environment, and reduces the risk of entanglement of the umbilical cable due to instability of the buoy's posture.

[0022] In an optional embodiment, the sealed cabin is made of a lightweight material selected from at least one of engineering plastics, carbon fiber, aluminum alloy or titanium alloy.

[0023] The low density of lightweight materials reduces the deadweight of the sealed cabin, allowing it to provide sufficient net buoyancy to support the unpowered buoy unit even when equipped with an internal battery pack. The high corrosion resistance of engineering plastics and carbon fiber extends the service life of the sealed cabin in salt spray environments. The rigidity of aluminum and titanium alloys resists the radial loads generated by the coaxial rotation of the winding barrel. Multiple material options accommodate operations at varying water depths and cost requirements. Furthermore, lightweight materials reduce the overall mass of the unpowered buoy unit, improving the responsiveness and energy efficiency of the underwater robot's towing motion.

[0024] In an optional embodiment, the method further includes:

[0025] A wire arranging mechanism, comprising a reciprocating screw and a wire arranging device, wherein the reciprocating screw is rotatably connected to the frame, and the wire arranging device is connected to the reciprocating screw;

[0026] The reciprocating screw is linked to the winding barrel through a synchronous belt to drive the wire arranging device to realize automatic wire arranging.

[0027] As the winding drum rotates, a synchronous belt drives a reciprocating screw connected to the rotating frame, which rotates synchronously. This drives the cable guide connected to the reciprocating screw to periodically reciprocate along the axial direction of the winding drum, allowing the umbilical cable to be evenly wound on the drum surface. The automatic reciprocating motion of the cable guide eliminates stress concentration caused by stacking or gaps in cable layers, preventing local bending and damage to the umbilical cable. The synchronous belt drive matches the winding drum speed with the cable guide displacement rate, ensuring that each layer of cable is tightly arranged and the transition between layers is smooth, significantly reducing the risk of jamming caused by chaotic cable arrangement during the retraction and deployment process. Furthermore, the rigid connection structure between the reciprocating screw and the frame suppresses vibration transmission, maintaining the stability of cable arrangement accuracy in wave-turbine environments.

[0028] In an optional embodiment, the intelligent tensioning control module includes:

[0029] Torque motor with built-in first-stage planetary reducer;

[0030] A tension sensor for monitoring the tension of the umbilical cable in real time;

[0031] The torque motor dynamically adjusts the output torque based on the tension sensor feedback to maintain the tension within a preset range.

[0032] The tension sensor monitors the umbilical cable tension data in real time and feeds it back to the torque motor. The torque motor converts the output torque through the built-in first-stage planetary reducer and dynamically adjusts the retraction and release force of the winding drum based on the tension data, so that the umbilical cable tension is accurately maintained within the preset range of 5-10N. The 5-10N tension range design simultaneously avoids the risk of cable breakage caused by tension overload and winding failure caused by insufficient tension. The high torque density characteristics of the first-stage planetary reducer ensure that the motor outputs stable adjustment force at low speed. The closed-loop control mechanism offsets the tension fluctuations caused by sudden changes in water flow or speed changes of the underwater robot in real time, suppressing the chain failure of the umbilical cable from falling out of the groove, getting entangled in the thruster, or getting caught on underwater debris.

[0033] In an optional embodiment, the winding mechanism, the intelligent tensioning control module and the wireless communication module are integrated into a single unpowered buoy unit.

[0034] The winding mechanism retracts and releases the umbilical cable through a coaxial layout. The torque motor and tension sensor of the intelligent tensioning control module directly drive and monitor the operation of the winding mechanism. The wireless communication module is fixed to the top of the winding mechanism's frame. The three are connected through a rigid structure to share the physical space and power supply of the unpowered buoy unit. Its integrated design eliminates the multi-unit connection pipelines and interface redundancy of the traditional split-type retraction and deployment mechanism, and compresses the system volume. The physical tight coupling between the winding mechanism and the intelligent tensioning control module shortens the response path of the tension feedback-torque adjustment, and improves the real-time performance of the closed-loop control. The high-position integration of the wireless communication module simultaneously reduces the structural weight of the independent antenna mast, enhances the shallow water operation's resistance to wind and wave overturning, and realizes the integrated portable deployment of retraction and deployment control and communication functions.

[0035] In an optional embodiment, the unpowered buoy unit and the underwater robot unit form a vertical collaborative operation layout through the umbilical cable.

[0036] When operating underwater, the underwater robot unit vertically drags the unpowered buoy unit to move synchronously. The umbilical cable is always in a nearly vertically stretched state. The intelligent tensioning control module maintains the tension of the umbilical cable in real time to keep the distance between the two units dynamically stable.

[0037] The vertical layout eliminates the horizontal extension of the umbilical cable on the water surface, shortens the exposed length of lateral drift in traditional solutions, and completely avoids the risk of cable entanglement with hydraulic structures or debris; the nearly straight cable state simultaneously reduces the interference of water flow resistance on the motion posture of the underwater robot unit, and improves the accuracy of the detection path; the unpowered buoy unit follow-up mode avoids the need for independent anchoring, and realizes the rapid shifting and continuous operation of the deployment and recovery system in wide waters.

[0038] In an optional embodiment, an anti-tilting counterweight structure is provided at the bottom of the frame.

[0039] In a second aspect, the present invention further provides an operation method based on the underwater robot cable adaptive retraction and extension system, comprising:

[0040] Deployment phase: connecting the unpowered buoy unit and the underwater robot unit via the umbilical cable and then dropping them onto the water surface;

[0041] Operation phase: the underwater robot unit drags the unpowered buoy unit to move, and the intelligent tensioning control module maintains the umbilical cable tension constant in real time;

[0042] Recovery phase: The underwater robot unit returns to the shore, the winding mechanism rotates in the reverse direction to reel in the umbilical cable, and the unpowered buoy unit approaches the shore synchronously with the underwater robot unit.

[0043] Specifically, during the deployment phase, the unpowered buoy unit and the underwater robot unit are connected via an umbilical cable and then deployed to the water surface as a whole. The winding mechanism releases the umbilical cable to the required length for the underwater robot unit to dive.

[0044] Operation phase: The underwater robot unit drags the unpowered buoy unit to move in coordination. The intelligent tensioning control module dynamically adjusts the torque motor output based on the tension sensor feedback to keep the umbilical cable tension constant within the preset range of 5-10N.

[0045] Recovery phase: The underwater robot unit returns to the shore, triggering the torque motor to rotate in the opposite direction. The winding mechanism reels the umbilical cable synchronously, driving the unpowered buoy unit to approach the shore in a straight line with the underwater robot unit.

[0046] The overall deployment mode in the deployment phase avoids the cable entanglement risk of traditional split deployment; the constant tension control and coordinated movement mechanism in the operation phase compresses the exposed length of the umbilical cable on the water surface to near zero, eliminating entanglement failure caused by lateral drift; the synchronous reeling of the winding mechanism in the recovery phase continuously reduces the distance between the unpowered buoy unit and the underwater robot unit, realizing full cable recovery and eliminating the safety hazards of cable sections left on the water surface being caught by debris. At the same time, the closed-loop tensioning control suppresses the impact load of retraction and deployment throughout the process, thereby extending the service life of the umbilical cable. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the specific embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0048] Figure 1 This is a structural diagram of an underwater robot cable adaptive retraction and extension system according to an embodiment of the present invention;

[0049] Figure 2 The figure is a schematic structural diagram of a side view of an underwater robot cable adaptive retraction and extension system according to an embodiment of the present invention.

[0050] Description of reference numerals:

[0051] 1. Unpowered buoy unit;

[0052] 2. Wireless communication module;

[0053] 3. Underwater robot unit;

[0054] 4. Umbilical cable;

[0055] 51. Sealed cabin; 52. Battery pack; 53. Wire winding barrel; 54. Frame;

[0056] 6. Reciprocating screw;

[0057] 7. Cable arranging device;

[0058] 8. Torque motor;

[0059] 9. Synchronous belt. DETAILED DESCRIPTION

[0060] To make the purpose, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without making creative efforts shall fall within the scope of protection of the present invention.

[0061] Current long-endurance underwater robotic vehicles (ROVs) rely on shore-based power and communications, requiring umbilical cables for power transmission and high-speed data exchange. This is due to the severe attenuation of underwater electromagnetic waves and the limited sonar communication rate (typically below 100 kbps). The conflict between ROVs' high power requirements and the insufficient energy density of their batteries further reinforces their reliance on umbilical cables.

[0062] In the traditional layout, the umbilical cable needs to extend horizontally to the shore. In shallow water and wide-area scenarios (such as dam monitoring), it is easily affected by the lateral drift of the water flow, entangled in hydraulic structures or underwater debris, and even caught in the ROV thruster, causing the equipment to be trapped or lost.

[0063] To offset the underwater drag of the umbilical cable, the cable must be designed with zero buoyancy. This necessitates the use of large drive units for the retraction and deployment mechanisms, resulting in bulky deployment and low deployment efficiency, making them difficult to adapt to operational flexibility requirements. Furthermore, mainstream retraction and deployment mechanisms lack dynamic tension adjustment capabilities, making it difficult to maintain stable umbilical cable tension. Excessive tension can break the cable, while too little increases the risk of entanglement, particularly during ROV speed changes or during turbulent water flow.

[0064] In view of this, the present embodiment provides an underwater robot cable adaptive retraction and extension system and method to solve the above-mentioned problems.

[0065] The following combination Figure 1 and Figure 2 , describing embodiments of the present invention.

[0066] According to an embodiment of the present invention, on the one hand, an adaptive retraction and extension system of an underwater robot cable is provided, comprising an unpowered buoy unit 1, an underwater robot unit 3, a winding mechanism and an intelligent tensioning control module, wherein the unpowered buoy unit 1 is arranged on the water surface and carries a wireless communication module 2, the underwater robot unit 3 is connected to the unpowered buoy unit 1 via an umbilical cable 4, the winding mechanism is coaxially integrated on the unpowered buoy unit 1, and is used to retract and extend the umbilical cable 4, the intelligent tensioning control module is connected to the winding mechanism, and the intelligent tensioning control module adjusts the tension of the umbilical cable 4 to a preset range in real time through closed-loop control; wherein the unpowered buoy unit 1 receives the signal transmitted by the underwater robot unit 3 via the umbilical cable 4, and interacts with the ground station through the wireless communication module 2.

[0067] The underwater robot unit 3 transmits the collected signal to the unpowered buoy unit 1 through the umbilical cable 4, and the unpowered buoy unit 1 conducts real-time signal interaction with the ground station through the wireless communication module 2 it carries; the winding mechanism is coaxially integrated on the unpowered buoy unit 1, and the closed-loop control of the intelligent tensioning control module senses the tension changes of the umbilical cable 4 in real time, and dynamically adjusts the retraction and release force of the winding mechanism to keep the tension of the umbilical cable 4 constant within a preset range.

[0068] The intelligent tensioning control module effectively suppresses tension fluctuations caused by water disturbances through continuous closed-loop adjustment, preventing the umbilical cable 4 from breaking or loosening due to tension overload and causing entanglement with debris in the water; the coordinated layout of the unpowered buoy unit 1 and the underwater robot unit 3 ensures that the umbilical cable 4 is always in a near-vertical state, eliminating the risk of lateral drift on the water surface; the coaxial integrated design of the winding mechanism combined with the surface signal coverage capability of the wireless communication module 2 ensures that the power supply and communication link is stable and reliable, while eliminating the traditional shore-based retraction and deployment mechanism's reliance on horizontally extended cables, realizing lightweight and rapid deployment in complex shallow water scenarios.

[0069] In one embodiment, the winding mechanism includes a sealed cabin 51, a winding barrel 53 and a rack 54. The sealed cabin 51 is connected to the unpowered buoy unit 1 and is configured to provide buoyancy for the unpowered buoy unit 1. The sealed cabin 51 has a built-in battery pack 52; the winding barrel 53 is coaxially sleeved on the outside of the sealed cabin 51, the rack 54 is fixed to the outside of the winding barrel 53, and the wireless communication module 2 is installed on the top of the rack 54.

[0070] The sealed cabin 51 provides buoyancy for the unpowered buoy unit 1 through its built-in battery pack 52, so that the whole unit floats stably on the water surface; the winding barrel 53 is coaxially sleeved on the outside of the sealed cabin 51, and the coaxial layout is used to optimize space utilization, so as to achieve efficient winding and releasing of the umbilical cable 4 in the radial direction of the sealed cabin 51; the frame 54 is fixed to the outside of the winding barrel 53, and the wireless communication module 2 installed on its top ensures that the signal transmitting end is always in a high position.

[0071] The buoyancy bearing of the sealed cabin 51 and the power supply of the battery pack 52 are integrated into one design, reducing the structural redundancy of the independent float and the power supply; the coaxial sleeve structure of the winding barrel 53 and the sealed cabin 51 compresses the lateral dimension; the frame 54 serves as a rigid connection carrier between the winding barrel 53 and the wireless communication module 2.

[0072] In one embodiment, the rack 54 adopts a counterweight design with a light top and a heavy bottom to ensure that the wireless communication module 2 always floats upward on the water surface.

[0073] By reducing the mass of the upper structure of the rack 54 and increasing the lower counterweight, the overall center of gravity of the rack 54 is moved downward. When the unpowered buoy unit 1 floats on the water surface, the righting torque generated by the coupling of gravity and buoyancy drives the rack 54 to automatically rotate to a vertical posture, ensuring that the wireless communication module 2 fixed on the top of the rack 54 always floats upward out of the water.

[0074] The wireless communication module 2 is continuously exposed above the water surface to avoid signal interruption due to capsizing of the hull or wave turbulence, thereby ensuring the real-time data interaction between the underwater robot unit 3 and the ground station; the counterweight design simultaneously improves the ability of the frame 54 to resist the impact of lateral water flow, suppresses the abnormal swing of the unpowered buoy unit 1 during the variable speed towing of the underwater robot unit 3 or in a turbulent environment, and reduces the risk of entanglement of the umbilical cable 4 due to instability of the buoy posture.

[0075] In one embodiment, the sealed cabin 51 is made of a lightweight material selected from at least one of engineering plastics, carbon fiber, aluminum alloy, or titanium alloy.

[0076] The low density of lightweight materials reduces the weight of the sealed capsule 51, allowing it to provide sufficient net buoyancy to support the unpowered buoy unit 1 even when equipped with a built-in battery pack 52. The high corrosion resistance of engineering plastics and carbon fiber extends the service life of the sealed capsule 51 in salt spray environments. The rigidity of aluminum and titanium alloys resists the radial loads generated by the coaxial rotation of the winding barrel 53. Multiple material options accommodate operations at varying water depths and cost requirements. Furthermore, lightweight materials reduce the overall mass of the unpowered buoy unit 1, improving the responsiveness and energy efficiency of the underwater robot's towing motion.

[0077] In one embodiment, the underwater robot cable adaptive retraction and release system also includes a wire arrangement mechanism, which includes a reciprocating screw 6 and a wire arranger 7. The reciprocating screw 6 is rotatably connected to the frame 54, and the wire arranger 7 is connected to the reciprocating screw 6; the reciprocating screw 6 is linked to the winding barrel 53 through a synchronous belt 9 to drive the wire arranger 7 to realize automatic wire arrangement.

[0078] As the winding drum 53 rotates, the synchronous belt 9 drives the reciprocating screw 6, which is rotatably connected to the frame 54, to rotate synchronously. This drives the cable arranger 7, which is connected to the reciprocating screw 6, to periodically reciprocate along the axial direction of the winding drum 53, so that the umbilical cable 4 is evenly wound on the surface of the winding drum 53. The automatic reciprocating motion of the cable arranger 7 eliminates stress concentration caused by cable layer stacking or gaps, preventing local bending and damage to the umbilical cable 4. The synchronous belt 9 transmission matches the speed of the winding drum 53 with the displacement rate of the cable arranger 7, ensuring that each layer of cable is tightly arranged and the transition between layers is smooth, significantly reducing the risk of jamming caused by chaotic cable arrangement during the retraction and deployment process. Furthermore, the rigid connection structure between the reciprocating screw 6 and the frame 54 suppresses vibration transmission, maintaining the stability of cable arrangement accuracy in wave-turbine environments.

[0079] In one embodiment, the intelligent tensioning control module includes a torque motor 8 and a tension sensor. The torque motor 8 has a built-in first-stage planetary reducer. The tension sensor monitors the tension of the umbilical cable 4 in real time. Based on the tension sensor feedback, the torque motor 8 dynamically adjusts the output torque to maintain the tension within a preset range. The tension range is 5-10N.

[0080] The tension sensor monitors the tension data of the umbilical cable 4 in real time and feeds it back to the torque motor 8. The torque motor 8 converts the output torque through the built-in first-stage planetary reducer, and dynamically adjusts the retraction and extension force of the winding drum 53 based on the tension data, so that the tension of the umbilical cable 4 is accurately maintained within the preset range of 5-10N. The 5-10N tension range design simultaneously avoids the risk of cable breakage caused by tension overload and winding failure caused by insufficient tension. The high torque density characteristics of the first-stage planetary reducer ensure that the motor outputs a stable regulating force at low speed. The closed-loop control mechanism offsets the tension fluctuations caused by sudden changes in water flow or speed changes of the underwater robot in real time, and suppresses the chain failure of the umbilical cable 4 from getting out of the groove, getting entangled in the propeller, or getting caught on underwater debris.

[0081] In one embodiment, the winding mechanism, the intelligent tensioning control module and the wireless communication module 2 are integrated into a single unpowered buoy unit 1 .

[0082] The winding mechanism retracts and releases the umbilical cable 4 through a coaxial layout. The torque motor 8 and the tension sensor of the intelligent tensioning control module directly drive and monitor the operation of the winding mechanism. The wireless communication module 2 is fixed on the top of the frame 54 of the winding mechanism. The three are connected through a rigid structure to share the physical space and power supply of the unpowered buoy unit 1; its integrated design eliminates the multi-unit connection pipelines and interface redundancy of the traditional split-type retracting and releasing mechanism, and compresses the system volume; the physical tight coupling between the winding mechanism and the intelligent tensioning control module shortens the response path of the tension feedback-torque adjustment, and improves the real-time performance of the closed-loop control; the high-position integration of the wireless communication module 2 simultaneously reduces the structural weight of the independent antenna mast, enhances the ability to resist wind and wave overturning in shallow water operations, and realizes the integrated portable deployment of retracting and releasing control and communication functions.

[0083] In one embodiment, the unpowered buoy unit 1 and the underwater robot unit 3 form a vertical collaborative operation layout through the umbilical cable 4.

[0084] When operating underwater, the underwater robot unit 3 vertically drags the unpowered buoy unit 1 to move synchronously. The umbilical cable 4 is always in a nearly vertical tension state. The intelligent tensioning control module maintains the tension of the umbilical cable 4 in real time to dynamically stabilize the distance between the two units.

[0085] The vertical layout eliminates the horizontal extension section of the umbilical cable 4 on the water surface, shortens the exposed length of lateral drift in the traditional solution, and completely avoids the risk of cable entanglement with hydraulic structures or debris; the nearly straight cable state simultaneously reduces the interference of water flow resistance on the motion posture of the underwater robot unit 3, and improves the accuracy of the detection path; the follow-up mode of the unpowered buoy unit 1 avoids the need for independent anchoring, and realizes the rapid shifting and continuous operation of the retraction and deployment system in wide waters.

[0086] In one embodiment, an anti-tilt counterweight structure is provided at the bottom of the frame 54 .

[0087] The high-density counterweights centrally located at the bottom of the frame 54 lower the overall center of gravity, placing the center of buoyancy of the unpowered buoy unit 1 above its center of gravity. This allows the righting torque created by gravity and buoyancy to resist capsizing caused by water flow or the speed change of the underwater robot.

[0088] The counterweight structure enhances the hull's self-righting capability and prevents signal interruption caused by the hull tipping. For example, a lead alloy counterweight is welded or bolted to the bottom of the frame 54. The lead alloy's corrosion resistance is suitable for seawater environments.

[0089] According to an embodiment of the present invention, on the other hand, an operation method based on an underwater robot cable adaptive retraction and extension system is provided, comprising:

[0090] Deployment phase: the unpowered buoy unit 1 and the underwater robot unit 3 are connected via the umbilical cable 4 and then deployed to the water surface;

[0091] Operation phase: The underwater robot unit 3 drags the unpowered buoy unit 1 to move, and the intelligent tensioning control module maintains the constant tension of the umbilical cable 4 in real time;

[0092] Recovery phase: The underwater robot unit 3 returns to the shore, the winding mechanism rotates in the reverse direction to reel in the umbilical cable 4, and the unpowered buoy unit 1 approaches the shore synchronously with the underwater robot unit 3.

[0093] Specifically, during the deployment phase, the unpowered buoy unit 1 and the underwater robot unit 3 are connected via the umbilical cable 4 and then deployed to the water surface as a whole. The winding mechanism releases the umbilical cable 4 to the required length for the underwater robot unit 3 to dive.

[0094] Operation phase: The underwater robot unit 3 drags the unpowered buoy unit 1 to move in coordination, and the intelligent tensioning control module dynamically adjusts the output of the torque motor 8 based on the tension sensor feedback, so that the tension of the umbilical cable 4 is constantly maintained in the preset range of 5-10N;

[0095] Recovery phase: The underwater robot unit 3 returns to the shore, triggering the torque motor 8 to rotate in the opposite direction. The winding mechanism reels the umbilical cable 4 synchronously, driving the unpowered buoy unit 1 to approach the shore in a straight line with the underwater robot unit 3.

[0096] The overall deployment mode in the deployment phase avoids the cable entanglement risk of traditional split deployment; the constant tension control and coordinated movement mechanism in the operation phase compresses the exposed length of the umbilical cable 4 on the water surface to near zero, eliminating entanglement failure caused by lateral drift; the winding mechanism in the recovery phase synchronously reels the cable, so that the distance between the unpowered buoy unit 1 and the underwater robot unit 3 continues to decrease, realizing full cable recovery and eliminating the safety hazard of cable sections left on the water surface being caught by debris. At the same time, the closed-loop tensioning control suppresses the impact load of the release and retraction throughout the process, thereby extending the service life of the umbilical cable 4.

[0097] Although the embodiments of the present invention have been described with reference to the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present invention. Such modifications and variations are all within the scope defined by the appended claims.

Claims

1. An underwater robot cable adaptive retraction and extension system, characterized in that: include: An unpowered buoy unit (1) is disposed on the water surface and carries a wireless communication module (2); An underwater robot unit (3) is connected to the unpowered buoy unit (1) via an umbilical cable (4); A winding mechanism, coaxially integrated on the unpowered buoy unit (1), for retracting and releasing the umbilical cable (4); An intelligent tensioning control module is connected to the winding mechanism, and the intelligent tensioning control module adjusts the tension of the umbilical cable (4) to a preset range in real time through closed-loop control; The unpowered buoy unit (1) receives the signal transmitted by the underwater robot unit (3) via the umbilical cable (4), and interacts with the ground station via the wireless communication module (2).

2. The underwater robot cable adaptive retraction and extension system according to claim 1, characterized in that: The winding mechanism comprises: a sealed cabin (51), connected to the unpowered buoy unit (1) and configured to provide buoyancy for the unpowered buoy unit (1), the sealed cabin (51) having a built-in battery pack (52); A winding barrel (53) is coaxially sleeved outside the sealed cabin (51); A frame (54) is fixed to the outside of the winding barrel (53), and the wireless communication module (2) is installed on the top of the frame (54).

3. The underwater robot cable adaptive retraction and extension system according to claim 2, characterized in that: The frame (54) adopts a counterweight design with a light top and heavy bottom, ensuring that the wireless communication module (2) always floats upward on the water surface.

4. The underwater robot cable adaptive retraction and extension system according to claim 2, characterized in that: The sealed cabin (51) is made of a lightweight material selected from at least one of engineering plastics, carbon fiber, aluminum alloy or titanium alloy.

5. The underwater robot cable adaptive retraction and extension system according to claim 2, characterized in that: Also includes: A wire arrangement mechanism comprises a reciprocating screw (6) and a wire arrangement device (7), wherein the reciprocating screw (6) is rotatably connected to the frame (54), and the wire arrangement device (7) is connected to the reciprocating screw (6); The reciprocating screw (6) is linked to the winding barrel (53) through a synchronous belt (9) to drive the wire arranging device (7) to realize automatic wire arranging.

6. The underwater robot cable adaptive retraction and extension system according to claim 1, characterized in that: The intelligent tensioning control module includes: Torque motor (8), with a built-in first-stage planetary reducer; A tension sensor for monitoring the tension of the umbilical cable (4) in real time; The torque motor (8) dynamically adjusts the output torque based on the tension sensor feedback to maintain the tension within a preset range.

7. The underwater robot cable adaptive retraction and extension system according to any one of claims 1 to 6, characterized in that: The winding mechanism, the intelligent tensioning control module and the wireless communication module (2) are integrated into a single unpowered buoy unit (1).

8. The underwater robot cable adaptive retracting and extending system according to any one of claims 1 to 6, characterized in that: The unpowered buoy unit (1) and the underwater robot unit (3) form a vertical collaborative operation layout through the umbilical cable (4).

9. The underwater robot cable adaptive retracting and extending system according to any one of claims 1 to 6, characterized in that: An anti-tilting counterweight structure is provided at the bottom of the frame (54).

10. An operating method based on the underwater robot cable adaptive retraction and extension system according to any one of claims 1 to 10, characterized in that: include: Deployment phase: connecting the unpowered buoy unit (1) and the underwater robot unit (3) via the umbilical cable (4) and then deploying them to the water surface; Operation phase: the underwater robot unit (3) drags the unpowered buoy unit (1) to move, and the intelligent tensioning control module maintains the tension of the umbilical cable (4) constant in real time; Recovery phase: the underwater robot unit (3) returns to the shore, the winding mechanism rotates in the reverse direction to reel in the umbilical cable (4), and the unpowered buoy unit (1) approaches the shore synchronously with the underwater robot unit (3).

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