Unmanned autonomous laying device and method for slender flexible cable based on underwater gyroscope

Abstract

The invention relates to the technical field of ocean engineering, and particularly provides an unmanned autonomous laying device and method for a slender flexible cable based on an underwater gyroscope. The device comprises an electronic cabin and a protective shell, the electronic cabin is rotationally connected into the protective shell through a double-end disc bearing, and external torsional interference is isolated; propellers are arranged at the two ends of the protective shell to counteract cable release impulse, and an openable cabin plate with hollow holes is arranged in the circumferential direction to reduce water resistance; and the cable is wound on the middle shaft of the shell and applies pre-tightening force. A lead screw mechanism driven by a stepping motor is arranged in the electronic cabin, push-pull of an injector piston is adjusted by controlling the lower rotary disc to move, and closed water circulation buoyancy adjustment is achieved. The laying method comprises the steps of cabin plate opening, dynamic impulse compensation of the propellers, precise cable release of the stepping motors and closed-loop resetting.

Description

Technical Field

[0001] The present invention relates to the field of marine engineering, and in particular to an unmanned autonomous laying device and method for a slender flexible cable. Background Art

[0002] Slender and flexible cables (such as submarine cables, hydrophone array cables, etc.) are key infrastructure in the field of marine engineering. Their technical characteristics directly determine the operational efficiency and safety in complex underwater environments. Such cables usually have the following characteristics: under the action of composite loads such as drag force, water flow resistance, viscosity, gravity and buoyancy, the cables exhibit a rigid-flexible coupled motion mode, which may cause drastic deformation of cables of hundreds of meters, manifesting as nonlinear mechanical behaviors such as stretching, bending, and torsion. At the same time, the alternating stress in the marine environment will cause micro-defects on the surface and inside of the cable to gradually expand, eventually causing sudden fatigue fracture. This type of failure is highly concealed and has serious consequences. In addition, the current full-scale fatigue test faces challenges such as long cycle, high cost, and stringent equipment requirements, resulting in insufficient accumulation of domestic test data, which restricts the development of related technologies.

[0003] Currently, my country's slender and flexible cable technology faces multiple challenges. First, bottlenecks in materials and processes lead to high import dependence and long procurement cycles. Second, the scarcity of domestic full-scale fatigue test platforms makes it difficult to support simulation and verification of complex marine conditions. Finally, in terms of dynamic deployment technology, the stability of existing devices under ocean disturbances needs to be improved. In order to break the foreign technology blockade, reduce the cost of marine engineering equipment, and ensure the independent control of energy channels and communication networks, my country must accelerate the independent research and development and innovation of slender and flexible cable technology. At the same time, promoting multidisciplinary integration and cultivating new quality productivity in marine equipment manufacturing are also important ways to achieve this goal. By building a full-chain independent and controllable technology system, my country is expected to achieve overtaking in deep-sea resource development, marine rights protection and other fields.

[0004] From a practical perspective, breaking through the technical bottleneck of autonomous, slender, flexible cable deployment and establishing a domestically controlled, autonomous cabling system is of significant practical significance. In the civilian sector, this technology can aid the construction of key projects such as submarine communication networks and offshore wind farms, promote the improvement of marine environmental monitoring and observation networks, and facilitate the development and utilization of marine resources. In high-security environments, it can support the deployment of high-end equipment such as underwater monitoring systems and unmanned underwater vehicles, enhancing ship communications and monitoring, and ensuring communication security.

[0005] This technology is the lifeline of energy and information transmission for marine resource development and the modern underwater "nerve center." Its autonomous and controllable capabilities directly determine a country's ability to control its marine resources. Building an efficient and stable domestically produced underwater monitoring system, particularly in waters such as the South China Sea and the East China Sea, will help safeguard my country's maritime rights and interests and enhance its marine information perception and security defense capabilities. Furthermore, the development of this technology promotes multidisciplinary innovation across materials science, high-end manufacturing, ocean exploration, and information and communications. It represents the country's comprehensive innovation capabilities in related fields and is of great significance in breaking the monopoly of foreign technology and achieving independent development.

[0006] Therefore, the present invention designs an unmanned autonomous deployment device for a slender flexible cable based on an underwater gyroscope. Summary of the Invention

[0007] In order to solve the above problems, the present invention proposes an unmanned autonomous deployment device and method for a slender flexible cable based on an underwater gyroscope.

[0008] The technical solutions of the present invention for an unmanned autonomous deployment device and method of a slender flexible cable based on an underwater gyroscope are as follows:

[0009] An unmanned autonomous deployment device for a slender flexible cable based on an underwater gyroscope, comprising an electronic cabin and a protective shell; both ends of the electronic cabin are rotatably connected to a disk, and the electronic cabin is rotatably connected to the inside of the protective shell through the disk, which is used to maintain the coordinated rotation of the electronic cabin and the protective shell, while isolating external torsional interference; propellers are respectively provided at both ends of the protective shell to offset the impulse generated when the cable is initially released, and the circumferential rotation of the protective shell is connected to an openable cabin plate, which is provided with multiple hollow holes to reduce water resistance when opening; the cable is wound around an axis in the middle of the protective shell, and a pre-tightening force is applied when the cable is wound.

[0010] Furthermore, the electronic cabin includes an electronic cabin shell and a control drive center, a syringe, an upper turntable, a fixed disk, a lower turntable, a screw and a stepper motor arranged inside the electronic cabin shell; the stepper motor is installed on the upper turntable and is clamped and fixed by the fixed disk, and the upper turntable and the fixed disk are provided with holes with the same number as the syringes and uniformly distributed along the circumference of the center of the upper turntable, and the barrel of the syringe passes through the upper turntable and is fixed to the fixed disk; a through hole is provided in the center of the fixed disk, and one end of the screw passes through the through hole and is rotatably connected to the stepper motor, and the lower turntable is provided with notches and arc protrusions with the same number as the syringes The tail end of the syringe's piston passes through the notch on the lower turntable and is engaged with the arc protrusion. The lower turntable is slidably connected to the screw rod, so that the lower turntable can slide along the axial direction of the screw rod; a hatch cover is provided at one end of the electronic cabin shell, and multiple groups of water flow channels are provided in the wall of the hatch cover. One end of each group of water flow channels leads to the center of the hatch cover and intersects with other water flow channels, and the other end extends to the circumferential end of the hatch cover. The front injection port of each group of syringes is connected to a group of water flow channels for water suction and drainage of the syringe; the screw rod is driven by a stepper motor to control the movement of the lower turntable to realize the push-pull action of the syringe piston, which is used to adjust the buoyancy.

[0011] Furthermore, a force sensor is installed on the propeller for real-time monitoring of impulse.

[0012] Furthermore, the waterproof servo is provided with an overload slip mechanism for protecting driving components under abnormal working conditions.

[0013] Furthermore, the stepping motor and the lead screw are connected via a coupling.

[0014] Furthermore, the protective shell is also equipped with a depth sensor, an angle sensor and a temperature sensor in an orthogonal layout. The three sensors together form a three-dimensional sensing unit, which is used to collect parameters such as buoyancy and pitch angle and calculate the motor control quantity in real time.

[0015] Furthermore, a method for unmanned autonomous deployment of a slender flexible cable based on an underwater gyroscope comprises the following steps:

[0016] a. Preparation stage: The stepper motor drives the turntable to reset, the syringe is aligned with the hatch release port, the propeller self-checks and the speed is calibrated.

[0017] b. Release trigger: The control signal activates the waterproof servo, which opens the hatch. At the same time, the preload device releases the brake and the cable reel is unlocked.

[0018] c. Dynamic compensation: The force sensor monitors the impulse in real time and adjusts the propeller speed through the PID algorithm.

[0019] d. Precision release: The stepper motor rotates at a 1.8° step angle, driving the lower turntable to move along the lead screw to control the cable release.

[0020] e. End stage: The encoder feedback signal is in place, the waterproof servo is reset, the openable panel is closed, and the propeller maintains the idle speed.

[0021] Furthermore, during step c, a dual-coefficient correction model is adopted by integrating a pressure-type depth sensor and a temperature sensor to meet the following requirements:

[0022] P TURE =P RAW K1+K2 T

[0023] Among them, K1 is the dimensionless temperature compensation proportional coefficient, K2 is the temperature drift correction coefficient, P TURE is the corrected pressure value, T is the water temperature data, P RAW is the original pressure value, and the original pressure value P is obtained by the real-time collected water temperature data T RAW Perform dynamic correction to ensure that the depth measurement error is within the specified range.

[0024] Furthermore, during step c, the three-dimensional sensing unit collects depth, attitude angle, and water temperature in real time, and transmits the data to the control drive center in the buoyancy adjustment device via the RS485 bus. The control algorithm of the control drive center calculates the motor control quantity according to the mechanical model, which satisfies:

[0025] Vertical force balance:

[0026] Pitching moment balance:

[0027] Where M is the total mass, B is the buoyancy, and D v is the vertical damping coefficient, I y is the pitch moment of inertia, and L is the front and rear motors. By adjusting the motor speed, ascent / descent speed control and pitch angular rate adjustment are achieved to mitigate depth fluctuations and attitude loss caused by environmental disturbances, preventing capsizing. Precise motion control is achieved, allowing the device to sink and adjust its attitude as required. Design and energy efficiency are optimized, structural parameters are determined, and energy consumption is reduced.

[0028] The beneficial effects of the present invention are:

[0029] The present invention uses a hollow design on the outer cabin to reduce water resistance, and cooperates with the four propellers on the end face of the protective shell to offset the impulse when the cable is released, effectively preventing the device from being deflected or damaged by the reaction force, ensuring the stability of the deployment process and adapting to complex water flow environments.

[0030] The present invention uses an inner layer of "stepper motor + lead screw + flange nut" transmission structure, combined with the needle tube limit design of the snowflake-shaped lower turntable, to achieve high-precision transmission with a minimalist mechanical structure, which not only improves space utilization (adapts to the layout of slender devices), but also achieves sub-millimeter positioning accuracy through stepper motor subdivision control, meeting the path accuracy requirements of cable laying.

[0031] The present invention uses a slender flexible cable to be wrapped around the middle axis of the protective shell through pre-tightening force. The slender flexible cable reduces the risk of entanglement and knotting during deployment, while improving the cable's wear resistance and bending resistance, adapting to long-term use requirements in complex underwater terrain.

[0032] The present invention uses an upper turntable and a lower turntable to clamp six needle tubes, and controls the movement of the flange nut by driving the lead screw with a stepping motor to achieve precise adjustment of the water inlet and outlet of the needle tubes. The device can be dynamically controlled in three dimensions to rise, sink and hover. The closed water circulation system avoids medium contamination, supports hundreds of cycles, and reduces operating costs.

[0033] The present invention uses an electronic cabin connected to the protective shell through a bearing inside the disc, allowing the electronic cabin to rotate with the shell while maintaining its own stability, ensuring that internal precision components (such as stepper motors and screw systems) are not disturbed by the rotation of the shell, making the device more reliable as a whole during complex underwater movements. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 It is a schematic diagram of the main structure of the internal cabin of the present invention.

[0035] Figure 2 It is a schematic diagram of the overall structure of the present invention.

[0036] Figure 3 Schematic diagram of the outer protective shell of the present invention.

[0037] Figure 4 This is a structural diagram of the electronic compartment end cover of the present invention.

[0038] Figure 5 It is a schematic diagram of the composition of the sensor detection system of the present invention. DETAILED DESCRIPTION

[0039] The following is combined with Figures 1 to 5 The present invention is further described.

[0040] refer to Figure 1 and 3, an unmanned autonomous deployment device for a slender flexible cable based on an underwater gyroscope, comprising an electronic cabin 14 and a protective shell 16; both ends of the electronic cabin 14 are rotatably connected to a disk 9, and the electronic cabin 14 is rotatably connected to the inside of the protective shell 16 through the disk 9, for maintaining the coordinated rotation of the electronic cabin 14 and the protective shell 16, while isolating external torsional interference; propellers 15 are respectively provided at both ends of the protective shell 16 for offsetting the impulse generated when the cable is initially released, and the circumferential rotation of the protective shell 16 is connected to an openable panel 11, which is provided with a plurality of hollow holes for reducing the resistance of water when opening, and the opening and closing of the openable panel 11 is controlled by a waterproof servo; the cable is wound around the axis in the middle of the protective shell 16, and a pre-tightening force is applied when the cable is wound.

[0041] refer to Figure 1 - Figure 4 The electronic cabin 14 includes an electronic cabin shell and a control drive center arranged inside the electronic cabin shell, a syringe 1, an upper turntable 2, a fixed disk 3, a lower turntable 4, a screw 5 and a stepper motor 7; the stepper motor 7 is mounted on the upper turntable 2 and is clamped and fixed by the fixed disk 3, and the upper turntable 2 and the fixed disk 3 are provided with the same number of holes as the syringe 1 and are uniformly distributed along the circumference of the center of the upper turntable 2. The barrel of the syringe 1 passes through the upper turntable 2 and is fixed to the fixed disk 3; a through hole is provided in the center of the fixed disk 3, and one end of the screw 5 passes through the through hole and is rotatably connected to the stepper motor 7, and the lower turntable 4 is provided with the same number of notches and The arc protrusion, the tail end of the piston of the syringe 1 passes through the notch on the lower turntable 4 and is engaged with the arc protrusion, the lower turntable 4 is slidably connected with the screw rod 5, so that the lower turntable 4 can slide along the axial direction of the screw rod 5; a hatch cover is provided at one end of the electronic cabin shell, and a plurality of water flow channels are provided in the wall of the hatch cover. One end of each water flow channel leads to the center of the hatch cover and intersects with other water flow channels, and the other end extends to the circumferential end of the hatch cover. The front injection port of each group of syringes 1 is connected to a group of water flow channels, which is used for water suction and drainage of the syringe 1; the screw rod is driven by the stepping motor 7 to control the movement of the lower turntable 4, thereby realizing the push-pull action of the piston of the syringe 1, which is used to adjust the buoyancy.

[0042] refer to Figure 3 A force sensor is also installed on the propeller 15 for real-time monitoring of impulse.

[0043] refer to Figure 3 The waterproof servo is provided with an overload slip mechanism to protect the driving components under abnormal working conditions.

[0044] refer to Figure 1 The stepping motor 7 is connected to the screw rod 5 through a coupling.

[0045] refer to Figure 3The protective shell 16 is also equipped with a depth sensor, an angle sensor and a temperature sensor in an orthogonal layout. The three sensors together form a three-dimensional sensing unit for collecting parameters such as buoyancy and pitch angle and calculating the motor control amount in real time.

[0046] refer to Figure 1 - Figure 5 , a method for unmanned autonomous deployment of a slender flexible cable based on an underwater gyroscope, comprising the following steps:

[0047] a. Preparation stage: The stepper motor 7 drives the lower turntable 4 to reset, the syringe 1 is aligned with the hatch release port, and the propeller 15 performs self-test and speed calibration.

[0048] b. Release trigger: The control signal activates the waterproof servo, which opens the hatch 11. At the same time, the preload device releases the brake and the cable reel is unlocked.

[0049] c. Dynamic compensation: The force sensor monitors the impulse in real time and adjusts the propeller speed by PID algorithm.

[0050] d. Precision release: The stepper motor rotates at a step angle of 1.8°, driving the lower turntable 4 to move along the lead screw 5 to control the cable release.

[0051] e. End stage: The encoder feedback signal is in place, the waterproof servo is reset, the openable panel 11 is closed, and the propeller 15 maintains the idle speed.

[0052] refer to Figure 5 In step c, a dual-coefficient correction model is adopted by integrating a pressure-type depth sensor and a temperature sensor to meet the following requirements:

[0053] P TURE =P RAW K1+K2 T

[0054] Among them, K1 is the dimensionless temperature compensation proportional coefficient, K2 is the temperature drift correction coefficient, P TURE is the corrected pressure value, T is the water temperature data, P RAW is the original pressure value, and the original pressure value P is obtained by the real-time collected water temperature data T RAW Perform dynamic correction to ensure that the depth measurement error is within the specified range.

[0055] refer to Figure 5 During step c, the three-dimensional sensing unit collects depth, attitude angle, and water temperature in real time. The data is transmitted to the control drive center in the buoyancy adjustment device via the RS485 bus. The control algorithm of the control drive center calculates the motor control quantity according to the mechanical model, which satisfies:

[0056] Vertical force balance:

[0057] Pitching moment balance:

[0058] Where M is the total mass, B is the buoyancy, and D v is the vertical damping coefficient, I y is the pitch moment of inertia, and L is the front and rear motors. By adjusting the motor speed, ascent / descent speed control and pitch angular rate adjustment are achieved to mitigate depth fluctuations and attitude loss caused by environmental disturbances, preventing capsizing. Precise motion control is achieved, allowing the device to sink and adjust its attitude as required. Design and energy efficiency are optimized, structural parameters are determined, and energy consumption is reduced.

[0059] like Figure 1 - Figure 3 As shown, an unmanned autonomous deployment device and method for a slender flexible cable based on an underwater gyroscope include: the deployment device is divided into two parts, an inner and an outer layer; the outer layer includes a cabin plate 11, a slender flexible cable 12, a switch horizontal plate 13, an electronic cabin 14, a propeller 15, a protective shell 16, and a knob 17; the inner layer includes a syringe 1, an upper turntable 2, a fixed disk 3, a lower turntable 4, a screw 5, a flange nut 6, a stepper motor 7, a bearing 8, and a disk 9.

[0060] The internal structure of the deployment device is able to float and dive by inhaling water, and cooperates with the propeller 15 of the external device to achieve underwater movement of the device. The stepper motor 7 is connected to the surface of the upper turntable and clamped by the fixing plate 3. The motor shaft of the stepper motor 7 is threadedly connected to the flange nut 6, which is mounted on the screw 5. The syringe 1 is controlled by the stepper motor 7 to move the lower turntable 4, completing the overall push and pull process of the syringe 1. The device's buoyancy is adjusted by the water inhalation and outhalation, allowing it to hover at a certain depth underwater.

[0061] When the protective shell 16 reaches a certain depth, the knob 17 on the horizontal switch plate 13 is turned open through the servo control switch, and then the cabin 11 will fall naturally due to gravity. The hollow design on the cabin 11 is to reduce the resistance of water. When the cabin 11 falls, the slender flexible cable 12 inside will be released. The wound slender flexible cable 12 will rotate forward under the action of elasticity and the stored impulse. When the slender flexible cable 12 is released, the propeller 15 is driven by the motor to reduce the buffering resistance.

[0062] Bearings 8 are installed on the electronic cabin 14 and the protective shell 16. The bearings 8 can allow the internal electronic cabin 14 to rotate while the protective shell 16 remains stationary. In addition, the addition of a propeller 15 can ensure the reduction of buffering force, offset the torque of the device, keep the protective shell 16 stable, and allow the internal electronic cabin 14 to rotate through the bearings 8.

[0063] The slender flexible cable 12 is a spirally wound structure. The slender flexible cable 12 is usually composed of multiple layers of components such as bend-resistant optical fiber, reinforcing fiber, spiral skeleton, anti-wear layer, outer sheath layer, etc. It is a typical non-adhesive composite structure with a large slenderness ratio and high flexibility. Its materials include steel, copper, polyethylene, polypropylene and polytetrafluoroethylene.

[0064] The key connecting components of the device can be divided into five modules according to their functional logic: mechanical isolation, seal release, precision transmission, trajectory control and power support, which together build a rigid and flexible connection system:

[0065] 1. Mechanical Isolation Module (Double-Row Angular Contact Bearing): The double-row angular contact bearing (model 7214AC) located between the protective housing 16 and the electronics compartment 14 utilizes an interference fit between the disc 9 and the protective housing 16, with the disc 9 securing the electronics compartment 14. This bearing supports a maximum radial load of 500 N and a torsional moment of 150 N·m, allowing 360° relative rotation of the inner and outer layers. This not only isolates the delicate components of the electronics compartment 14 from interference caused by the twisting of the protective housing 16 when the slender flexible cable 12 is released, but also prevents seawater infiltration through the lip seal, creating a stable environment for the inner transmission system.

[0066] 2. The sealed release module (servo-connecting rod mechanism) panel 11 and protective housing 16 achieve IP68 waterproof sealing through M6 threaded holes (8 groups / block) and O-rings with a 20% compression ratio, which can withstand 5 bar water pressure. The SG90 servo pulls the panel 11 clip via a crank connecting rod, completing a 90° flip and opening in 0.2 seconds, forming a 200mm×50mm release port that meets the high-speed cable output requirement of 2m / s. The connecting rod overload slip mechanism (trigger force 50N) protects the drive components under abnormal operating conditions such as foreign object jamming, balancing sealing and reliability.

[0067] 3. Precision transmission module (elastic coupling): A plum blossom-shaped elastic coupling (made of 6061-T6 aluminum) connects the stepper motor 7 and the lead screw 5, converting the rotational motion of a 1.8° step angle into a linear displacement of 0.0125mm / step, with a resolution of micron level. It allows compensation for radial offset ≤0.2mm and angular offset ≤1.5°, effectively calibrating assembly errors while absorbing 0.3N·m of impact torque, protecting the flange nut 6 from rigid impact, and ensuring transmission accuracy (positioning error ±0.02mm).

[0068] 4. The arc protrusion of the lower turntable 4 of the trajectory control module (H7 / g6 clearance fit) and the base hole clearance fit of the tail groove of the syringe 1 ( The clearance is 0.007~0.034mm), which limits the radial displacement of the piston of the syringe 1 to within 0.05mm, ensuring the extraction accuracy of the 10° guide angle (angle deviation <0.5°); the snowflake-shaped notch guides the slender flexible cable 12 to be released along the involute trajectory, and cooperates with the hard chrome-plated contact surface (film thickness 10μm) and silicone-based grease to achieve a wear-resistant life of 100,000 cycles and avoid entanglement and knotting (uniformity error <3%).

[0069] 5. Power support module (carbon fiber bolt connection) M5 carbon fiber bolts (tensile strength 1200MPa) secure the propeller 15 bracket to the titanium alloy base of the head. An axial stiffness of 50N / μm ensures the thrust direction accuracy (deviation ≤2°) of the four X-shaped propellers 15 (angle 45°). A force sensor integrated into the base (range ±50N) monitors impulse in real time and responds to compensation within 50ms. The lightweight design, which reduces weight by 60% compared to steel bolts, keeps the weight of the power component at 15%, balancing strength and maneuverability.

[0070] Through material optimization (titanium alloy / carbon fiber / stainless steel), precision grading (C7-grade lead screw / H7 fit) and functional coupling (sealing / buffering / calibration), the five modules form a complete connection chain from external protection to internal transmission, from power compensation to trajectory control, ensuring that the device can achieve high precision (positioning error ±0.02mm), low disturbance (attitude deviation <5°) and long life (key components ≥100,000 cycles) in the deployment of slender and flexible cables in a water depth of 500m.

[0071] The movable end of the slender flexible cable 12 is clamped on the knob 17 and the deck 11, and the fixed end is wound on the shaft inside the protective shell 16. When the knob 17 is opened, the front deck 11 falls, and the constraint of the slender flexible cable 12 disappears and is released from the front.

[0072] The foregoing description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Those skilled in the art will readily appreciate that various modifications and variations of the present invention are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention are intended to be within the scope of protection of the present invention.

Claims

1. An unmanned autonomous deployment device for a slender flexible cable based on an underwater gyroscope, characterized by: The electronic module comprises an electronic module (14) and a protective shell (16); both ends of the electronic module (14) are rotatably connected to a disk (9); the electronic module (14) is rotatably connected to the inside of the protective shell (16) via the disk (9), and is used to maintain the electronic module (14) and the protective shell (16) in a coordinated rotation, while isolating external torsional interference; The protective shell (16) is provided with propellers (15) at both ends for offsetting the impulse generated when the cable is initially released. The protective shell (16) is connected to an openable panel (11) for circumferential rotation. The openable panel (11) is provided with a plurality of hollow holes for reducing water resistance when opening. The opening and closing of the openable panel (11) is controlled by a waterproof steering gear. The cable is wound around a shaft in the middle of the protective housing (16), and a pre-tightening force is applied when the cable is wound.

2. The unmanned autonomous deployment device for an underwater gyroscope-based slender flexible cable according to claim 1, characterized in that: The electronic cabin (14) comprises an electronic cabin shell and a control drive center arranged inside the electronic cabin shell, an injector (1), an upper turntable (2), a fixed disk (3), a lower turntable (4), a screw rod (5) and a stepping motor (7); The stepper motor (7) is mounted on the upper turntable (2) and is clamped and fixed by the fixed disk (3). The upper turntable (2) and the fixed disk (3) are provided with holes, the number of which is the same as that of the syringes (1) and which are evenly distributed along the center circumference of the upper turntable (2). The barrel of the syringe (1) passes through the upper turntable (2) and is fixed to the fixed disk (3). The center of the fixed disk (3) is provided with a through hole, one end of the screw rod (5) passes through the through hole and is rotatably connected to the stepping motor (7), the lower turntable (4) is provided with notches and arc protrusions of the same number as the syringe (1), the tail end of the piston of the syringe (1) passes through the notch on the lower turntable (4) and is engaged with the arc protrusion, the lower turntable (4) is slidably connected to the screw rod (5), so that the lower turntable (4) can slide along the axial direction of the screw rod (5); A hatch cover is provided at one end of the electronic cabin housing, and a plurality of water flow channels are provided in the wall of the hatch cover. One end of each water flow channel leads to the center of the hatch cover and intersects with other water flow channels, and the other end extends to the circumferential end of the hatch cover. The front injection port of each group of syringes (1) is connected to a group of water flow channels for absorbing and draining water from the syringes (1). The stepping motor (7) drives the screw rod to control the movement of the lower turntable (4), thereby realizing the push-pull action of the syringe (1) piston, which is used to adjust the buoyancy.

3. The unmanned autonomous deployment device for an underwater gyroscope-based slender flexible cable according to claim 1, characterized in that: A force sensor is also installed on the propeller (15) for real-time monitoring of impulse.

4. The unmanned autonomous deployment device for an underwater gyroscope-based slender flexible cable according to claim 1, characterized in that: The waterproof steering gear is provided with an overload slip mechanism for protecting the driving components under abnormal working conditions.

5. The unmanned autonomous deployment device for an underwater gyroscope-based slender flexible cable according to claim 2, characterized in that: The stepping motor (7) is connected to the screw rod (5) via a coupling.

6. The unmanned autonomous deployment device for an underwater gyroscope-based slender flexible cable according to claim 1, characterized in that: The protective shell (16) is also equipped with a depth sensor, an angle sensor and a temperature sensor in an orthogonal arrangement. The three sensors together form a three-dimensional sensing unit for collecting parameters such as buoyancy and pitch angle and calculating the motor control amount in real time.

7. A method for autonomously deploying a slender flexible cable based on an underwater gyroscope, based on the deployment device according to any one of claims 2, 3 or 6, characterized in that: The following steps are involved: a. Preparation stage: The stepper motor (7) drives the lower turntable (4) to reset, the syringe (1) is aligned with the hatch release port, the propeller (15) performs a self-test and performs speed calibration; b. Release trigger: The control signal activates the waterproof servo, which can open the hatch (11) and release the brake of the preload device, unlocking the cable reel; c. Dynamic compensation: The force sensor monitors the impulse in real time and adjusts the propeller (15) speed through the PID algorithm; d. Precision release: The stepper motor rotates at a step angle of 1.8°, driving the lower turntable (4) to move along the screw (5) to control the cable release; e. End stage: The encoder feedback signal is in place, the waterproof servo is reset, the openable panel (11) is closed, and the propeller (15) maintains the idle speed.

8. The deployment method according to claim 4, characterized in that: During step c, a dual-coefficient correction model is adopted by integrating a pressure-type depth sensor and a temperature sensor to meet the following requirements: P TURE =P RAW ·K1+K2·T Among them, K1 is the dimensionless temperature compensation proportional coefficient, K2 is the temperature drift correction coefficient, P TURE is the corrected pressure value, T is the water temperature data, P RAW is the original pressure value, and the original pressure value P is obtained by the real-time collected water temperature data T RAW Perform dynamic correction to ensure that the depth measurement error is within the specified range.

9. The deployment method according to claim 7, characterized in that: During step c, the three-dimensional sensing unit collects depth, attitude angle, and water temperature in real time. The data is transmitted to the control drive center in the buoyancy adjustment device via the RS485 bus. The control algorithm of the control drive center calculates the motor control quantity according to the mechanical model, which satisfies: Vertical force balance: Pitching moment balance: Where M is the total mass, B is the buoyancy, and D v is the vertical damping coefficient, I y is the pitch moment of inertia, and L is the front and rear motors. By adjusting the motor speed, ascent / descent speed control and pitch angular rate adjustment are achieved to mitigate depth fluctuations and attitude loss caused by environmental disturbances, preventing capsizing. Precise motion control is achieved, allowing the device to sink and adjust its attitude as required. Design and energy efficiency are optimized, structural parameters are determined, and energy consumption is reduced.

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