Underwater transfer device and transfer method for submarine cable covering cleaning

Abstract

The invention discloses an underwater transfer device and method for submarine cable covering cleaning, and relates to the technical field of submarine cable covering cleaning equipment.The underwater transfer device comprises a loading unit, a buoyancy unit, a propelling unit, a positioning unit, an underwater manipulator, a controller and an auxiliary unit. The buoyancy unit is connected with the loading unit through a hanging rope and is provided with a buoyancy monitor; the propelling unit provides horizontal driving force; the positioning unit collects position information; the auxiliary unit provides an air source and support. According to the method, cleaning is achieved through construction preparation, connection loading, covering loading, buoyancy adjusting, transferring, stacking and circulating operation. Through multi-unit dynamic collaboration and a standardized process, the problems of low manual carrying efficiency, high strength and high risk are solved, the buoyancy adjusting precision and the positioning accuracy are improved, the device adapts to the complex seabed environment, and the operation efficiency is remarkably improved.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of subsea cable covering cleaning equipment, and particularly relates to an underwater transfer device for cable covering cleaning, which is especially suitable for underwater cleaning and short-distance transfer operation of covering such as riprap, sandbag, and cement block in the process of subsea cable repair. BACKGROUND

[0002] With the rapid development of offshore wind power and island power transmission projects, the safe operation of subsea cables, as the core carrier of power transmission, is crucial. In order to avoid damage to the subsea cable caused by offshore construction, ship anchoring and other activities, covering such as riprap, sandbag, and cement chain is usually used to protect the subsea cable. However, when the subsea cable needs to be repaired, the cleaning of the covering as a prerequisite for the repair directly affects the overall repair progress in terms of efficiency and safety.

[0003] In the prior art, the cleaning of the subsea cable covering mainly relies on manual handling by divers, which has three major problems: first, the operation efficiency is low, the manual single load is limited, and the complex underwater environment (such as low visibility and water flow impact) leads to slow cleaning progress; second, the labor intensity is high, the underwater handling needs to overcome water resistance and buoyancy, and the diver consumes physical strength quickly; third, the safety risk is high, long-time underwater operation is prone to cause diving sickness, and manual operation is difficult to accurately control the safety distance from the subsea cable, which may cause secondary damage to the subsea cable. Although large-scale mechanized equipment can improve efficiency, it is easy to touch the subsea cable due to its large size and low operation precision, and cannot meet the high-precision cleaning requirements.

[0004] In the prior art, CN114291212A discloses a "water surface rapid transfer device", which adjusts the buoyancy by a sealed piston in a lifting cabin to realize the water surface transfer of underwater equipment. The device is mainly used for transferring regular equipment such as underwater detection robots from underwater to water surface, and relies on the "lifting cabin-sealed piston" structure to adjust the buoyancy, and the operation scene is "water surface transportation", without considering the underwater in-situ cleaning and safety distance from the subsea facilities. The technical solution has the following limitations: it is for the water surface transfer of underwater equipment, not for the underwater in-situ cleaning of subsea covering; it automatically adjusts the buoyancy through a mechanical structure (sealed piston), which is suitable for regular items and cannot adapt to non-standardized loading of loose covering (such as stone); it needs to complete the whole process of "underwater picking-up-water surface transportation-unloading", which relies on external power traction.

[0005] In summary, there is a lack of transfer device specially used for underwater cleaning of subsea cable covering in the prior art, which cannot solve the problems of low efficiency and high risk of manual cleaning, and cannot meet the requirements of high precision and safety for cleaning of covering in the complex subsea environment. SUMMARY

[0006] The present application aims at avoiding the shortcomings of the prior art and providing an underwater transfer device and a transfer method for cleaning of a submarine cable cover, so as to completely solve the core problems of low efficiency, high labor intensity and high safety risk of traditional manual transfer.

[0007] The above-mentioned object of the present application is achieved by the following technical means:

[0008] The underwater transfer device for cleaning of a submarine cable cover comprises a loading unit 1, a buoyancy unit 2, a propulsion unit 3, a positioning unit 4, an underwater manipulator, a controller and an auxiliary unit 5.

[0009] The buoyancy unit 2 is detachably connected to the loading unit 1 through a hanging rope 7, and is further provided with a buoyancy monitor 8 for real-time acquisition of buoyancy data.

[0010] The propulsion unit 3 is arranged on one side of the buoyancy unit 2 and is used to provide horizontal driving force to realize directional movement of the loading unit 1.

[0011] The positioning unit 4 is used to collect real-time relative position information of the buoyancy unit 2 and the submarine cable.

[0012] The auxiliary unit 5 is used to provide operation support and air supply for the transfer device.

[0013] The underwater manipulator is carried by a diver or integrated into the controller and is used for manual intervention control of the propulsion unit 3 and the buoyancy unit 2 when the diver works underwater.

[0014] The buoyancy unit 2, the positioning unit 4, the buoyancy monitor 8 and the underwater manipulator are connected to the controller, and the underwater manipulator controls the buoyancy of the buoyancy unit 2 and the operating state of the propulsion unit 3 through the controller.

[0015] Further, the loading unit 1 has a number of hanging points 12 matched with the number of the hanging ropes 7.

[0016] The loading unit 1 is one of a tonnage bag 11 and a rigid grid cage.

[0017] Preferably, the buoyancy unit 2 comprises a buoyancy air bag 21 and an inflation pipe 22, one end of the inflation pipe 22 is in communication with the buoyancy air bag 21, the other end is connected to an air source of the auxiliary unit 5, the inflation pipe 22 is provided with an inflation solenoid valve, and the buoyancy air bag 21 is further provided with a deflation solenoid valve.

[0018] The inflation solenoid valve and the deflation solenoid valve are electrically connected to the controller.

[0019] The controller is arranged on the buoyancy air bag 21, controls the inflation solenoid valve to inflate the buoyancy air bag 21, and controls the deflation solenoid valve to deflate the buoyancy air bag 21.

[0020] Optionally, the propelling unit 3 is a light portable propeller, and is electrically connected with the controller to receive a driving signal;

[0021] The light portable propeller is one of a Reed Subnado emergency version underwater propeller and an Y02-K underwater directional propeller.

[0022] Preferably, the positioning unit 4 comprises an ultra-short baseline locator 41 arranged on the buoyancy unit 2 and an underwater high-definition camera arranged on the diver; the underwater high-definition camera is used for collecting images of the submarine cable and the surrounding environment in real time, and both are signal-connected with the controller to transmit position and image information.

[0023] Further, the weight monitor 6 is further included, and the weight monitor 6 comprises a weight sensor 61 and a digital display screen 62;

[0024] The weight sensor 61 is arranged on the hanging rope 7, and the weight sensor 61 is used for acquiring bearing data in real time and transmitting the bearing data to the controller;

[0025] The digital display screen 62 is arranged at the bottom of the buoyancy unit 2, or is integrated into the underwater controller, or is integrated into the controller, so as to facilitate the diver to observe.

[0026] Further, when the loading amount of the loading unit 1 observed by the diver reaches 70%-80%, the underwater controller is controlled to trigger the buoyancy unit 2 to inflate;

[0027] When the buoyancy data of the buoyancy monitor 8 and the bearing data of the weight sensor 61 reach a balance point, the controller controls the buoyancy unit 2 to continue and complete inflation according to a preset logic, and at this time, the buoyancy unit 2 can slightly take the loading unit 1 away from the bottom by not more than 0.5 meters.

[0028] Preferably, the auxiliary unit 5 comprises a work support mother ship 51, a sandbag anchor and a command console arranged on the work support mother ship 51, the work support mother ship 51 is provided with an air compressor as a gas source and a controller, and the sandbag anchor is used for fixing the position of the work support mother ship 51.

[0029] The command console is electrically connected with the controller, and is used for receiving information returned by the controller.

[0030] The application further discloses an underwater transfer method for cleaning submarine cable covers, and the underwater transfer device for cleaning submarine cable covers is used, and the method comprises the following steps:

[0031] S1: construction preparation: determining a work position by using the auxiliary unit 5, determining a submarine cable position and a cover cleaning range by using the positioning unit 4, and throwing the buoyancy unit 2 and the plurality of loading units 1.

[0032] S2: connecting the loading unit: the diver detachably connects the loading unit 1 with the buoyancy unit 2 through the hanging rope 7;

[0033] S3: loading cover: the diver drags the loading unit 1 to the designated submarine cable position, loads the submarine cable cover into the loading unit 1 until the loading amount reaches the preset value;

[0034] S4: buoyancy adjustment: the diver controls the underwater controller to trigger the inflation of the buoyancy unit 2, the buoyancy monitor 8 feeds back the buoyancy data in real time, and the controller adjusts the increase and decrease of the buoyancy of the buoyancy unit 2 until the loading unit 1 is slightly off the bottom;

[0035] S5: loading unit transfer: the diver controls the underwater controller to control the propulsion unit 3 to drive the buoyancy unit 2 to move the loading unit 1 to the preset stacking point in a designated direction according to the position information fed back by the positioning unit 4;

[0036] S6: stacking the loading unit: the diver controls the underwater controller to control the buoyancy unit 2 to deflate, and after the loading unit 1 is stably stacked at the stacking point, the hanging rope 7 is detached;

[0037] S7: cycle operation: repeat steps S2-S6 until the cover cleaning is completed.

[0038] Preferably,

[0039] In the buoyancy adjustment process in step S4, the diver manually intervenes in the control of the increase and decrease of the buoyancy of the buoyancy unit 2 by observing the off-ground height of the loading unit 1;

[0040] In step S5, the preset stacking point satisfies that the slope bottom of the dam is 5-10m away from the east and west sides of the submarine cable, and the elevation of the slope bottom of the dam is lower than that of the submarine cable; and the stacking point is the slope bottom of the dam.

[0041] The beneficial effects produced by the above technical solutions are:

[0042] 1. The "perception-intelligent decision-making-precise execution-human-machine complementation" collaborative mechanism is constructed to replace manual heavy lifting, the physical consumption of the diver is reduced by more than 60%, the single operation time is prolonged by more than 2 times, the path deviation error is less than or equal to 0.5 meters, and the risk of secondary damage to the submarine cable is eliminated.

[0043] 2. The multi-point symmetrical hanging point structure of the loading unit is optimized, the connection stability is improved by more than 80%, the tilting or falling caused by uneven stress is avoided, and the hidden danger of material falling is completely solved.

[0044] 3. The buoyancy unit is adjusted through the "inflation-monitoring-feedback" closed loop, the inflation and deflation are precisely controlled by the electromagnetic valve, the buoyancy adjustment accuracy is improved by 80% compared with manual operation, and different loading amounts and sea conditions are adapted.

[0045] 4. Lightweight propeller replaces manual rowing, real-time path correction with positioning unit, diver's physical consumption reduced by 70%, direction adjustment accuracy improved by 60%, and water flow interference offset.

[0046] 5. Dual positioning system (ultra-short baseline locator + underwater camera) data fusion, position error reduced by more than 60%, accurately identify the distance between the cable and the obstacle, and ensure safety.

[0047] 6. Real-time weight monitor, digital display screen for underwater observation, monitoring accuracy improved by 90%, avoid overloading or insufficient loading, form a "monitoring-display-control" integrated link.

[0048] 7. Controller preset logic triggers buoyancy adjustment, inflation when load reaches 75%, stop when the height from the bottom is less than or equal to 0.5 meters, trigger timing error ±2%, buoyancy adjustment safety improved by 60%.

[0049] 8. Auxiliary unit mother ship and sandbag anchor cooperative positioning, stable air supply, monitoring platform forms a "underwater-water" closed loop, abnormal response efficiency improved by 60%, supporting continuous operation.

[0050] 9. Standardized seven operation steps, process clarity improved by 70%, avoid process omission, promote cleaning operation from "manual dominant" to "mechanical cooperation standardization" transformation.

[0051] 10. The preset stacking point is 5-10m away from the cable and the slope bottom of the dam, and the elevation is lower, which reduces the impact of water flow and reduces the risk of secondary damage to the cable by 90%, ensuring the long-term retention of the covering. BRIEF DESCRIPTION OF DRAWINGS

[0052] Figure 1 is a schematic diagram of the working principle of the underwater transfer device for cable covering cleaning;

[0053] Figure 2 is a schematic diagram of the detachable connection of the buoyancy unit to the loading unit through the hanging rope;

[0054] Figure 3 is a schematic diagram of the underwater transfer method for cable covering cleaning.

[0055] Among them, the loading unit 1; tonnage bag 11; hanging point 12; buoyancy unit 2; buoyancy airbag 21; inflation pipe 22; propulsion unit 3; positioning unit 4; ultra-short baseline locator 41; auxiliary unit 5; support mother ship 51; weight monitor 6; weight sensor 61; digital display screen 62; hanging rope 7; buoyancy monitor 8. DETAILED DESCRIPTION

[0056] With reference to the accompanying drawings, the technical solutions in the embodiments of the present application will be described clearly and completely. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all the other embodiments obtained by those skilled in the art without creative work fall within the scope of the present application.

[0057] Embodiment 1

[0058] To solve the technical problems of low operation efficiency, high labor intensity and high safety risk caused by the manual carrying of divers in the existing cleaning of submarine cable cover, the technical solutions are as follows:

[0059] As Figures 1-2 An underwater transfer device for cleaning submarine cable cover is shown, which comprises a loading unit 1, a buoyancy unit 2, a propulsion unit 3, a positioning unit 4, an underwater controller, a controller and an auxiliary unit 5. The buoyancy unit 2 is detachably connected to the loading unit 1 through a hanging rope 7, and the buoyancy unit 2 is also provided with a buoyancy monitor 8 to obtain real-time buoyancy data. The propulsion unit 3 is arranged on one side of the buoyancy unit 2, and is used to provide horizontal driving force to realize the directional movement of the loading unit 1. The positioning unit 4 is used to collect the relative position information of the buoyancy unit 2 and the submarine cable in real time. The auxiliary unit 5 is used to provide operation support and air supply for the transfer device. The underwater controller is carried by a diver or integrated into the controller, and is used for manual intervention to control the propulsion unit 3 and the buoyancy unit 2 when the diver works underwater. The buoyancy unit 2, the positioning unit 4, the buoyancy monitor 8 and the underwater controller are connected to the controller, and the underwater controller controls the increase and decrease of the buoyancy of the buoyancy unit 2 and the operating state of the propulsion unit 3 through the controller.

[0060] Before operation, the operation range is demarcated by the auxiliary unit 5, and the buoyancy unit 2 and the loading unit 1 are put into the water. The positioning unit 4 collects the position information of the submarine cable in real time and uploads it to the controller. After calculation, the controller feeds back the results to the underwater controller to provide the diver with centimeter-level positioning basis (such as the real-time offset value of the buoyancy unit 2 and the submarine cable), so as to ensure that the loading unit 1 is accurately pulled to the cleaning point. After the diver connects the loading unit 1 and the buoyancy unit 2, the diver starts to load the cover until the loading amount reaches the preset value to trigger the buoyancy adjustment. The buoyancy monitor 8 feeds back the buoyancy data in real time, and the controller dynamically adjusts the buoyancy unit 2 to inflate the loading unit 1 slightly away from the bottom (the height away from the bottom is controllable). Then, the diver guides the positioning according to the feedback of the controller, controls the propulsion unit 3 to drive the loading unit 1 to move directionally to the preset stacking point through the underwater controller, and detaches the loading unit 1 after deflation to complete a single operation, so as to realize continuous cleaning through cyclic operation.

[0061] Buoyancy adjustment man-machine compensation:

[0062] If the controller dynamically regulates the buoyancy unit 2 to stop inflating, the loading unit 1 cannot be slightly off the bottom, the underwater controller is operated to control the buoyancy unit 2 to continue to inflate until the loading unit 1 is slightly off the bottom;

[0063] If the loading unit 1 is too high off the bottom, the underwater controller is operated to control the buoyancy unit 2 to deflate until the loading unit 1 is slightly off the bottom.

[0064] In this embodiment, a deep coordination mechanism of "perception-intelligent decision-precise execution-human-machine position compensation" is constructed, and three core technology breakthroughs are realized:

[0065] First, mechanical coordination replaces manual heavy lifting, and the physical consumption of divers is reduced by more than 60%, the single underwater continuous operation time is prolonged to more than twice the original, the unit time coverage cleaning amount is significantly improved, and the pain points of low efficiency and physical overdraw of traditional manual operation are completely solved;

[0066] Second, the positioning unit 4 is linked with the propulsion unit 3, and the path correction logic of the controller is cooperated to strictly control the transfer path deviation error within 0.5 meters, avoid the risk of touching the submarine cable caused by experience deviation of manual operation, and reduce the secondary damage risk of the submarine cable by more than 90%;

[0067] Third, the buoyancy monitor 8 and the controller form a "buoyancy-load" dynamic matching closed loop, combined with the human-machine position adjustment of the diver, the buoyancy control accuracy is improved by 80% compared with the traditional manual estimation, which avoids the too large drag resistance caused by insufficient buoyancy, and prevents the transfer from being out of control caused by excessive buoyancy, and improves the safety and stability of underwater operation. The coordination mechanism effectively adapts to the complex environment such as low visibility and water flow impact on the sea floor, and provides an efficient and safe technical solution for submarine cable coverage cleaning.

[0068] Embodiment 2

[0069] Based on embodiment 1, in order to solve the technical problem that the connection stability of the loading unit 1 and the buoyancy unit 2 is insufficient in the existing submarine cable coverage cleaning, and the material is prone to fall during transfer, the technical scheme is as follows:

[0070] As shown in Figures 1-2 The loading unit 1 has a number of hanging points 12 matched with the number of the hanging ropes 7; the loading unit 1 is one of the tonnage bags 11 and the rigid grid cages.

[0071] Before operation, the diver checks the connection structure of the loading unit 1 and the buoyancy unit 2, connects the hanging points 12 of the loading unit 1 and the hanging ropes 7 of the buoyancy unit 2 one by one, and ensures that each connection point is firm and reliable through quick connection structures such as hanging rings and hanging buckles;

[0072] When working, if tonnage bag 11 is selected, its flexible material can adapt to the loading of loose riprap, sandbag and other coverings, and the multiple-point symmetrical hanging points 12 evenly disperse the load, avoiding the tearing of the bag caused by excessive local stress;

[0073] If a rigid grid cage is selected, its solid structure is suitable for blocky coverings such as cement blocks, and the matching connection of the hanging points 12 and the hanging ropes 7 can prevent the grid cage from tilting and overturning.

[0074] After loading the coverings to the preset amount, the multiple-point connection structure keeps the loading unit 1 in a balanced state during the transfer process driven by the buoyancy unit 2; after a single transfer is completed, the diver quickly disassembles the loading unit 1 by separating the connection structure of the hanging points 12 and the hanging ropes 7, and repeats the operation with a new unit.

[0075] This embodiment realizes three technical optimizations through the multiple-point symmetrical connection structure of the number of "hanging points 12-hanging ropes 7" matching:

[0076] First, it solves the problem of uneven force of traditional single hanging point connection, keeps the loading unit 1 balanced in the whole process of loading and transferring, and improves the connection stability by more than 80% compared with the traditional structure, completely eliminating the safety hazard of material falling;

[0077] Second, it adapts to the loading needs of different types of coverings, and the flexibility of tonnage bag 11 and the solidity of rigid grid cage are combined with multiple-point connection, which widens the application scenarios of the device;

[0078] Third, the quick connection and disassembly structure reduces the underwater operation time of the diver, and cooperates with the stable connection performance to improve the single loading-transfer cycle efficiency by 30%, providing reliable structural support for the efficient development of subsequent transfer processes.

[0079] Embodiment 3

[0080] This embodiment is based on Embodiment 1 and aims to solve the precision and controllability of buoyancy adjustment. The technical solution is as follows:

[0081] As shown in Figures 1-2 , the buoyancy unit 2 includes a buoyancy air bag 21 and an inflation pipe 22, one end of the inflation pipe 22 is in communication with the buoyancy air bag 21, the other end is connected to the air source of the auxiliary unit 5, and the inflation pipe 22 is provided with an inflation solenoid valve; the buoyancy air bag 21 is also provided with a deflation solenoid valve; the inflation solenoid valve and the deflation solenoid valve are electrically connected with the controller respectively; the controller is arranged on the buoyancy air bag 21, controls the inflation solenoid valve to inflate the buoyancy air bag 21, and controls the deflation solenoid valve to deflate the buoyancy air bag 21.

[0082] Before operation, the air source of the auxiliary unit 5 is connected with the buoyancy air bag 21 through the inflation pipe 22, the controller adjusts the response state of the inflation electromagnetic valve and the deflation electromagnetic valve to ensure the accurate and controllable opening and closing of the valve;

[0083] When the loading amount of the loading unit 1 reaches the preset value (such as 70%-80%), the controller receives the signal of the weight monitor 6, automatically opens the inflation electromagnetic valve, and the air source inflates the buoyancy air bag 21 through the inflation pipe 22; the buoyancy monitor 8 collects the buoyancy data in real time and transmits it to the controller to form a dynamic feedback link of “inflation amount-buoyancy value”, when the buoyancy data approaches the preset threshold (corresponding to the slight off-bottom of the loading unit 1), the controller gradually reduces the inflation rate; if the buoyancy monitor 8 shows that the buoyancy does not reach the expectation or is excessive, the diver can intervene through the underwater controller to manually control the inflation electromagnetic valve to supplement air or the deflation electromagnetic valve to deflate air, until the off-bottom height of the loading unit 1 is controlled within 0.5 meters; after being transported to the stacking point, the diver triggers the deflation electromagnetic valve to open through the underwater controller, and the buoyancy air bag 21 deflates to make the loading unit 1 land stably, completing a single buoyancy adjustment cycle.

[0084] The embodiment realizes three major technical breakthroughs through the synergistic mechanism of “air bag-electromagnetic valve-controller-monitor”:

[0085] Firstly, the “inflation-monitor-feedback” closed-loop regulation logic is built, and the inflation and deflation process is accurately controlled by the electromagnetic valve, replacing the traditional rough way of manually estimating the inflation amount, and the buoyancy regulation accuracy is improved by more than 80% compared with manual operation;

[0086] Secondly, the buoyancy monitor 8 feeds back data in real time, and the controller dynamically adjusts the inflation rate, avoiding the sudden increase of buoyancy caused by too fast inflation or the too large drag caused by insufficient inflation, and solving the problem of imbalance between buoyancy and load;

[0087] Thirdly, the inflation and deflation electromagnetic valves are linked with the controller, and cooperate with the manual adjustment of the diver to make the buoyancy continuously controllable from “zero” to the preset threshold, adapt to the buoyancy demand under different loading amounts and different sea conditions, and significantly improve the stability and safety of underwater transportation, providing core buoyancy support for efficient transportation.

[0088] Embodiment 4

[0089] Based on embodiment 1, to solve the technical problems that the horizontal movement in the underwater transportation of the existing submarine cable covering relies on the physical rowing of the diver, resulting in low efficiency, poor direction control accuracy, and easy path deviation caused by water flow interference, the technical scheme is as follows:

[0090] As Figures 1-2As shown, the propulsion unit 3 is a lightweight portable propeller, and is electrically connected with the controller to receive the driving signal; the lightweight portable propeller is one of the Reed Subnado emergency version underwater propeller and the Yifan Y02-K underwater directional propeller.

[0091] Before operation, the diver checks the electrical connection state of the propulsion unit 3 and the controller, ensures the smooth transmission of the driving signal, and selects the appropriate propeller model according to the operation environment (such as selecting the Yifan Y02-K directional propeller to enhance stability when the water flow is fast);

[0092] When the buoyancy unit 2 is inflated to make the loading unit 1 slightly off the bottom, the diver sends a direction instruction to the controller through the underwater controller, and the controller transmits the driving signal to the propulsion unit 3;

[0093] The lightweight portable propeller generates horizontal driving force to push the buoyancy unit 2 to drive the loading unit 1 to move in the set direction;

[0094] During the movement, the positioning unit 4 collects real-time position information and feeds back to the controller, and the controller combines the water flow interference data to prompt the diver with a direction correction signal, and the diver adjusts the output power or direction of the propulsion unit 3 through the underwater controller, to ensure that the loading unit 1 always moves along the preset path to the stacking point; after reaching the stacking point, the diver sends a stop signal through the controller, and the propulsion unit 3 is turned off, completing the single transfer drive.

[0095] The embodiment realizes three technical optimizations through the cooperative driving mechanism of "lightweight propeller-controller-positioning unit 4":

[0096] First, the mechanical driving force replaces the diver's physical rowing, and the lightweight design of the Reed Subnado emergency version and the Yifan Y02-K propeller adapts to the underwater operation scene, and a single propeller can provide stable horizontal thrust, reducing the diver's physical consumption by more than 70%, solving the pain point of low efficiency of manual rowing;

[0097] Second, the propulsion unit 3 and the controller are electrically connected to form a "command-execution" closed loop, and the driving signal response delay is controlled within 0.5 seconds, combined with the real-time position feedback of the positioning unit, to improve the transfer direction adjustment accuracy by 60%, effectively offsetting the path deviation caused by water flow interference;

[0098] Third, the adaptive selection of two types of propellers widens the application range of the device, which can be flexibly switched according to the seabed water flow speed, load of the covering, and other working conditions, to ensure efficient directional movement in different environments, and provides core power support for the continuity and accuracy of underwater transfer.

[0099] Embodiment 5

[0100] The embodiment is based on embodiment 1, to solve the technical problem that the positioning in the existing submarine cable covering transfer depends on artificial experience judgment, it is difficult to accurately grasp the relative position of the loading unit 1 and the submarine cable, and the submarine cable is easily damaged due to too close distance, the technical scheme is as follows:

[0101] As shown in Figures 1-2 The positioning unit 4 includes an ultra-short baseline positioner 41 arranged on the buoyancy unit 2 and an underwater high-definition camera arranged on the diver; the underwater high-definition camera is used to collect real-time images of the submarine cable and the surrounding environment, both of which are connected with the controller signal to transmit position and image information.

[0102] Before operation, the ultra-short baseline positioner 41 is initialized and establishes a data transmission link with the controller, and the coordinate accuracy is calibrated;

[0103] The diver wears the underwater high-definition camera and adjusts it to a clear shooting state, ensuring that the images of the submarine cable and the surrounding environment can be stably transmitted;

[0104] During operation, the ultra-short baseline positioner 41 collects real-time three-dimensional coordinate data of the loading unit 1, calculates the relative distance with the submarine cable and synchronously transmits to the controller, forming a centimeter-level position monitoring data chain;

[0105] At the same time, the underwater high-definition camera shoots real-time images of the submarine cable, the covering distribution and the surrounding obstacles, and transmits them to the controller for fusion analysis with the coordinate data;

[0106] The controller integrates the position data and image information, outputs navigation instructions to the diver or the propulsion unit 3, and prompts the safe distance deviation of the loading unit 1 and the submarine cable; if the image shows sudden rocks, dark currents and other obstacles, the controller immediately triggers an audible and visual warning, the diver adjusts the propulsion direction combined with the image and position data to avoid the risk area.

[0107] Through the cooperative mechanism of "double positioning-data fusion-navigation control", the embodiment realizes three technical optimizations:

[0108] First, the ultra-short baseline positioner 41 provides accurate coordinate data, and the underwater high-definition camera supplements environmental visual information, and after data fusion, the position error is reduced by more than 60% compared with single positioning method, solving the problem of insufficient positioning accuracy of traditional manual visual positioning;

[0109] Second, the positioning unit 4 is linked with the controller, which feedbacks the safe distance deviation to the diver in real time, adjusts the direction of the propulsion unit 3, ensures that the loading unit 1 always maintains a safe distance from the submarine cable, and completely eliminates the risk of touching the submarine cable caused by experience deviation of manual operation;

[0110] Third, dual monitoring of images and coordinate data can accurately identify sudden obstacles and trigger early warnings, providing divers with intuitive environmental perception basis and significantly improving operation safety in complex seabed environments, and providing reliable positioning support for efficient transfer.

[0111] Embodiment 6

[0112] This embodiment is based on Embodiment 2. Once there is a buoyancy load deviation that causes a buoyancy adjustment imbalance, the proposed solution is as follows:

[0113] As shown in Figures 1-2 The underwater transfer device further comprises a weight monitor 6, which comprises a weight sensor 61 and a digital display screen 62; the weight sensor 61 is arranged on the hanging rope 7, and the weight sensor 61 transmits the bearing data to the controller in real time; the digital display screen 62 is arranged at the bottom of the buoyancy unit 2, or integrated into the underwater controller, or integrated into the controller, to facilitate observation by the diver.

[0114] Before operation, the diver checks the connection reliability of the weight sensor 61 and the hanging rope 7 to ensure that the digital display screen 62 displays normally (such as integrated into the underwater controller for real-time viewing);

[0115] During the loading stage, the loading unit 1 is always on the bottom, and the diver determines the loading amount by observing the filling state of the loading unit 1, and when the visual observation reaches 75% of the full load as a preset threshold;

[0116] The diver manually controls the underwater controller to trigger the inflation of the buoyancy unit 2;

[0117] During the inflation process, the weight sensor 61 continuously transmits the bearing data to the controller, and the buoyancy monitor 8 synchronously feeds back the buoyancy data, and the controller establishes a "bearing-buoyancy" dynamic matching model:

[0118] If the bearing data is greater than the buoyancy data (the loading unit 1 is not off the bottom), the controller automatically controls the inflation solenoid valve to continuously inflate;

[0119] If the bearing data is less than the buoyancy data and the off-bottom height exceeds 0.5 meters (excessive buoyancy), the controller triggers the deflation solenoid valve to deflate slightly;

[0120] Until the two data reach balance, the loading unit 1 realizes slight off-bottom (height ≤ 0.5 meters), and the controller stops inflation and deflation adjustment.

[0121] During the buoyancy adjustment process, the real-time bearing data of the weight sensor 61 and the synchronous feedback of the buoyancy data of the buoyancy monitor 8 are displayed in real time, providing a basis for human-machine intervention in buoyancy adjustment.

[0122] If there is interference such as submarine water flow, the two data cannot reach balance and realize slight off-bottom, the diver can control the underwater control robot at any time to intervene in the buoyancy adjustment.

[0123] The embodiment realizes three core optimizations through the technical scheme of "weight sensing-data visualization-dynamic collaborative adjustment":

[0124] First, it solves the problem of large error in traditional manual visual loading capacity. The preset value of loading capacity (full load) is entirely judged by human, which is a feeling value and has a significant deviation. For example, if the preset value of buoyancy corresponding to 75% of the loading capacity is directly used, there will be too much or too little buoyancy, which needs timely human-machine intervention for secondary adjustment, wasting time. Therefore, by constructing a "load-buoyancy" dynamic matching model, the controller automatically adjusts the inflation and deflation according to the weight and buoyancy data, replacing pure manual experience adjustment, and completely solving the problem of loading unit 1 not off-bottom dragging or off-bottom too high out of control caused by imbalance of buoyancy and load, and the accuracy of buoyancy adjustment is improved by more than 80%;

[0125] Second, combined with the human-machine intervention mechanism, the adjustment reliability is guaranteed under complex working conditions such as water flow interference, and the real-time data display of the digital display screen 62 reduces the blindness of the diver's underwater operation, greatly improves the efficiency of single buoyancy adjustment, and provides key data support for the stable connection of the loading unit 1 and the buoyancy unit 2 and the overall transfer process in embodiment 2, significantly improving the safety and efficiency of underwater transfer;

[0126] Third, it solves the problem of fuzzy observation of underwater data. The digital display screen 62 synchronously displays the load and buoyancy data in real time, converts the abstract loading capacity and buoyancy state into direct numerical value display, solves the problem of "data blind judgment" in traditional underwater operation, and improves the perception efficiency of the diver on the loading progress and adjustment state by more than 60%, providing clear basis for accurate inflation and timely intervention adjustment, and further strengthening the collaborative accuracy of "manual judgment-mechanical execution".

[0127] Embodiment 7

[0128] Based on embodiment 6, the following loading capacity threshold is based on the need for efficient operation:

[0129] As shown in Figures 1-2 When the diver observes that the loading capacity of the loading unit 1 reaches 70%-80%, the underwater control robot is controlled to trigger the inflation of the buoyancy unit 2.

[0130] When the buoyancy data of the buoyancy monitor 8 and the load data of the weight sensor 61 reach the balance point, the controller controls the buoyancy unit 2 to continue and complete the inflation according to the preset logic. At this time, the buoyancy unit 2 can slightly lift the loading unit 1 off the bottom not higher than 0.5 meters.

[0131] This embodiment realizes significant optimization from the dimensions of efficiency and safety:

[0132] In terms of safety, the 70%-80% loading capacity threshold design forms a key safety barrier: on the one hand, the threshold reduces the load pressure by 20%-30% compared to full load, avoiding stress concentration in the bag / cage structure due to overloading (such as tearing of tonnage bags 11, deformation of rigid grid cages), while reducing the connection load of hanging points 12 and hanging ropes 7, preventing connection loosening and causing the cover to fall, reducing the risk of material spilling by more than 70%; on the other hand, the loading state that does not reach full load provides safety redundancy for buoyancy adjustment, and the weight sensor 61 has more stable bearing data, avoiding calculation deviation of the "bearing-buoyancy" balance point due to overloading, reducing the risk of uncontrolled transfer caused by imbalance of buoyancy adjustment, and laying a foundation for safe implementation of subsequent off-bottom and moving links.

[0133] In terms of loading and transfer efficiency, the quantitative balance point logic avoids excessive drag caused by insufficient buoyancy or repeated inflation and deflation operations caused by excessive buoyancy, reducing the time required for single buoyancy adjustment; a 0.5-meter off-bottom height allows the loading unit 1 to detach from the seabed, reducing the moving resistance, and avoiding path deviation caused by water flow impact, combined with directional driving of the propulsion unit 3, significantly reducing the single transfer time compared to traditional manual adjustment, and significantly improving the efficiency of continuous operation.

[0134] Embodiment 8

[0135] This embodiment is based on Embodiment 5, to solve the technical problem that the existing submarine cable cover cleaning operation support is unstable, the air supply is unreliable, and the underwater device is interrupted or fails to operate, the technical solution is as follows:

[0136] As shown in Figures 1-2 The auxiliary unit 5 includes an operation support mother ship 51, a sandbag anchor, and a command console provided on the operation support mother ship 51, the operation support mother ship 51 is provided with an air compressor as an air source and a controller, and the sandbag anchor is used to fix the position of the operation support mother ship 51; the command console is electrically connected to the controller and is used to receive information returned by the controller.

[0137] Before operation, the operation support mother ship 51 sails to the preset operation sea area, and the sandbag anchor is thrown to fix the ship position by gravity, ensuring that the offset of the mother ship under the impact of the current is controlled within the standard range;

[0138] Start the air compressor on the mother ship, adjust to a stable air supply state, and establish an air connection between the inflation pipe 22 and the buoyancy air bag 21 of the buoyancy unit 2;

[0139] The command console and the underwater controller establish a data transmission link, synchronously receive the position data of the positioning unit 4, the loading capacity data of the weight monitor 6, and the buoyancy data of the buoyancy monitor 8, and form a "water- underwater" information closed loop.

[0140] During operation, the air compressor continuously provides stable air pressure for the buoyancy unit 2 to ensure the inflation and deflation pressure requirements of the buoyancy air bag 21.

[0141] The command console displays the underwater operation status in real time. If the air source pressure is insufficient (such as air compressor failure) or the position of the mother ship deviates beyond the standard, an audible and visual warning is immediately issued, and the operator can intervene remotely or dispatch maintenance through the console.

[0142] After a single cycle of underwater transfer is completed, the console records operation data such as each loading-transporting-stacking trajectory, single operation time, single carrying load data, etc., providing a basis for subsequent cycle optimization.

[0143] This embodiment realizes three technical optimizations through the collaborative support mechanism of "mother ship-sandbag anchor-air source-control console":

[0144] First, the gravity fixation method of the sandbag anchor solves the problem of easy loosening of traditional anchor chains, improving the position stability of the operation support mother ship 51 by more than 90%, and providing a stable upper support foundation for underwater devices.

[0145] Second, the air compressor as a dedicated air source replaces temporary inflation equipment, and the air pressure fluctuation can be controlled within ±5%, completely solving the problem of adjustment failure caused by insufficient inflation or unstable air pressure of the buoyancy unit 2.

[0146] Third, the command console and underwater controller are linked in real time, forming a "state monitoring-exception warning-remote scheduling" closed loop, and the response time for operation exceptions is shortened to within 30 seconds, improving the fault handling efficiency by 60% compared to the traditional unmonitored mode.

[0147] The auxiliary unit 5 provides continuous power and global monitoring support for the core functional units of embodiments 1-7, significantly improving the continuity and reliability of the overall operation.

[0148] Embodiment 9

[0149] To solve the technical problems of low operation efficiency, chaotic process connection, and high safety risk caused by the non-standard underwater transfer process of existing submarine cable coverings, the technical solution is as follows:

[0150] For example Figure 3 An underwater transfer method for cleaning submarine cable coverings is shown, based on any one of the underwater transfer devices for cleaning submarine cable coverings described in embodiments 1-8, the transfer method comprises:

[0151] S1: Construction preparation: determine the operation position through the auxiliary unit 5, determine the submarine cable position and covering cleaning range using the positioning unit 4, and deploy the buoyancy unit 2 and multiple loading units 1.

[0152] S2: connecting the loading unit: the diver detachably connects the loading unit 1 with the buoyancy unit 2 through the hanging rope 7;

[0153] S3: loading the cover: the diver drags the loading unit 1 to the designated submarine cable position, loads the submarine cable cover into the loading unit 1 until the loading amount reaches the preset value;

[0154] S4: buoyancy adjustment: the diver controls the underwater controller to trigger the inflation of the buoyancy unit 2, the buoyancy monitor 8 feeds back the buoyancy data in real time, and the controller adjusts the increase and decrease of the buoyancy of the buoyancy unit 2 until the loading unit 1 is slightly off the bottom;

[0155] S5: loading unit transfer: the diver controls the underwater controller to control the propulsion unit 3 to drive the buoyancy unit 2 to move the loading unit 1 to the preset stacking point in a designated direction according to the position information fed back by the positioning unit 4;

[0156] S6: stacking the loading unit: the diver controls the underwater controller to control the buoyancy unit 2 to deflate, and after the loading unit 1 is stably stacked at the stacking point, the hanging rope 7 is detached;

[0157] S7: cycle operation: repeat steps S2-S6 until the cover cleaning is completed.

[0158] The embodiment realizes three technical optimizations by constructing a "standardized steps + core unit cooperation" transfer process:

[0159] First, steps S1-S7 clearly define the operation logic of "preparation-connection-loading-adjustment-transportation-stacking-cycle", solving the process omission problem caused by disordered process in traditional manual transportation, and improving the standardization of operation process by more than 70%;

[0160] Second, each step is deeply linked with the core unit of the device, the positioning unit 4 ensures the accuracy of the operation, the buoyancy unit 2 and the buoyancy monitor 8 realize safe off-bottom, and the propulsion unit 3 provides stable driving force, so that the single transfer cycle is greatly shortened compared with traditional manual operation;

[0161] Third, the process integrates the "automatic regulation + man-machine compensation" mechanism, which adapts to complex environments such as low visibility and water flow impact on the seabed, and forms a closed loop with the "sensing-regulating-driving" cooperative mechanism of embodiment 1, effectively reducing the labor intensity of divers by more than 60%, avoiding the risk of secondary damage to submarine cables, and promoting the transformation of submarine cable cover cleaning from "manual dominant" to "mechanical assisted standardized operation".

[0162] Embodiment 10

[0163] Based on embodiment 9, to solve the technical problems that the selection of stacking point in the existing submarine cable cover transfer is not scientific, which causes secondary damage of the cover to the submarine cable, and the lack of manual compensation in buoyancy adjustment leads to off-bottom anomaly, the technical scheme is as follows:

[0164] As shown in Figure 3 Step S4, the diver manually intervenes in the control of the buoyancy of the buoyancy unit 2 by observing the height of the loading unit 1 from the ground during the buoyancy adjustment; in step S5, the preset stacking point is the slope bottom of the dam 5-10m away from the east and west sides of the submarine cable and has an elevation lower than the submarine cable.

[0165] Before operation, the positioning unit 4 surveys the terrain around the submarine cable, and in the controller, the slope bottom of the dam 5-10m away from the east and west sides of the submarine cable and having an elevation lower than the submarine cable is marked as the preset stacking point, and the coordinate parameters are marked;

[0166] In step S4, the controller automatically controls the buoyancy unit 2 to inflate to a preliminary off-bottom state, and the diver confirms the off-bottom height of the loading unit 1 through underwater observation - if the off-bottom height is too low (not off the seabed), the underwater controller is controlled to control the buoyancy unit 2 to supplement air; if the off-bottom height is too high (more than 0.5 meters), the air is controlled to be released until the safe state of slight off-bottom is reached;

[0167] In step S5, the diver controls the propulsion unit 3 to drive the loading unit 1 to move along the safe path according to the position data fed back by the positioning unit 4 in real time, and the whole process is guided by the stacking point coordinates marked in the controller to ensure accurate arrival at the slope bottom of the dam 5-10m away from the submarine cable;

[0168] After arrival, the natural terrain stability of the slope bottom of the dam is used to slowly release the air of the buoyancy unit 2, so that the loading unit 1 is stably stacked on the slope bottom, and the single stacking is completed.

[0169] This embodiment realizes three technical optimizations through the mechanism of "scientific site selection of stacking point + human-machine compensation of buoyancy adjustment":

[0170] First, step S5 defines the characteristics of the stacking point "5-10m safe distance + low-elevation slope bottom of the dam", which avoids direct contact between the covering and the submarine cable, and reduces the risk of secondary damage to the submarine cable by more than 90% compared with the traditional stacking method without distance limitation; the terrain of the slope bottom of the dam utilizes gravity and terrain resistance to reduce water flow impact, and cooperates with the design of the low elevation lower than the submarine cable to prevent the covering from sliding to the submarine cable area due to water flow or self-weight, and the stability of the covering is improved by 80%;

[0171] Second, step S4 introduces the diver to manually compensate the buoyancy adjustment, which solves the problem of automatic adjustment deviation caused by water flow interference and uneven material distribution by the diver observing the off-bottom state in real time and intervening in air supplementing / air releasing, and the success rate of buoyancy adjustment is improved to 98%;

[0172] Third, the coordinate of the stacking point is linked with the positioning unit 4, the diver can view the deviation of the position of the stacking point in real time through the controller, the transfer path is ensured to be accurate, the safety hidden danger caused by the deviation of the stacking point is avoided, and a safe and stable guarantee scheme is provided for the final disposal of the cleaning of the submarine cable covering.

[0173] The above only discloses the preferred embodiments of the present application, and of course cannot limit the scope of the patent rights of the present application, so the equivalent changes made in the patent application scope of the present application still belong to the scope covered by the present application.

Claims

1. An underwater transfer device for cleaning submarine cable coverings, characterized in that: It comprises a loading unit (1), a buoyancy unit (2), a propulsion unit (3), a positioning unit (4), an underwater manipulator, a controller and an auxiliary unit (5); The buoyancy unit (2) is detachably connected to the loading unit (1) via a hanging rope (7), and the buoyancy unit (2) is also equipped with a buoyancy monitor (8) to obtain buoyancy data in real time; The propulsion unit (3) is arranged on one side of the buoyancy unit (2) and is used to provide a horizontal driving force to achieve directional movement of the loading unit (1); The positioning unit (4) is used to collect relative position information between the buoyancy unit (2) and the submarine cable in real time; The auxiliary unit (5) is used to provide operation support and gas source supply for the transfer device; The underwater manipulator is carried by a diver or integrated into the controller, and is used for manually manipulating the propulsion unit (3) and the buoyancy unit (2) during the diver's seabed operations; The buoyancy unit (2), the positioning unit (4), the buoyancy monitor (8), and the underwater manipulator are connected to the controller, and the underwater manipulator controls the increase or decrease of the buoyancy of the buoyancy unit (2) and the operating state of the propulsion unit (3) through the controller.

2. The underwater transfer device for cleaning submarine cable covering according to claim 1, characterized in that: The loading unit (1) has hanging points (12) matching the number of the hanging ropes (7); The loading unit (1) is one of a tonnage bag (11) and a rigid mesh cage.

3. The underwater transfer device for cleaning submarine cable covering according to claim 1, characterized in that: The buoyancy unit (2) comprises a buoyancy airbag (21) and an inflation tube (22), one end of the inflation tube (22) is connected to the buoyancy airbag (21), and the other end is connected to the air source of the auxiliary unit (5), and the inflation tube (22) is provided with an inflation solenoid valve; the buoyancy airbag (21) is also provided with a deflation solenoid valve; The inflation solenoid valve and the deflation solenoid valve are electrically connected to the controller respectively; The controller is arranged on the buoyancy airbag (21), controls the inflation electromagnetic valve to inflate the buoyancy airbag (21), and controls the deflation electromagnetic valve to deflate the buoyancy airbag (21).

4. The underwater transfer device for cleaning submarine cable covering according to claim 1, characterized in that: The propulsion unit (3) is a lightweight portable propeller and is electrically connected to the controller to receive a driving signal; The lightweight portable thruster is one of the Weidu Subnado emergency version underwater thruster and the Yifan Y02-K underwater directional thruster.

5. The underwater transfer device for cleaning submarine cable covering according to claim 1, characterized in that: The positioning unit (4) comprises an ultra-short baseline locator (41) provided on the buoyancy unit (2) and an underwater high-definition camera provided on the diver; the underwater high-definition camera is used to collect images of the submarine cable and the surrounding environment in real time, and both are connected to the controller signal to transmit position and image information.

6. The underwater transfer device for cleaning submarine cable covering according to claim 2, characterized in that: Also included is a weight monitor (6), wherein the weight monitor (6) includes a weight sensor (61) and a digital display screen (62); The weight sensor (61) is arranged on the hanging rope (7), and the weight sensor (61) obtains load-bearing data in real time and transmits it to the controller; The digital display screen (62) is arranged at the bottom of the buoyancy unit (2), or is integrated into the underwater manipulator, or is integrated into the controller, so as to facilitate observation by the diver.

7. The underwater transfer device for cleaning submarine cable covering according to claim 6, characterized in that: When the diver observes that the loading capacity of the loading unit (1) reaches 70%-80%, the diver controls the underwater controller to trigger the buoyancy unit (2) to inflate; When the buoyancy data of the buoyancy monitor (8) and the load-bearing data of the weight sensor (61) reach a balance point, the controller controls the buoyancy unit (2) according to the preset logic to continue and complete the inflation. At this time, the buoyancy unit (2) can slightly lift the loading unit (1) no higher than 0.5 meters from the bottom.

8. The underwater transfer device for cleaning submarine cable covering according to claim 5, characterized in that: The auxiliary unit (5) includes an operation support mother ship (51), a sandbag anchor, and a command console provided on the operation support mother ship (51). The operation support mother ship (51) is equipped with an air compressor as an air source and a controller. The sandbag anchor is used to fix the position of the operation support mother ship (51). The command console is electrically connected to the controller and is used to receive information returned by the controller.

9. An underwater transfer method for cleaning submarine cable covers, based on the underwater transfer device for cleaning submarine cable covers according to any one of claims 1 to 8, characterized in that: The following steps are involved: S1: Construction preparation: Determine the operation location through the auxiliary unit (5), use the positioning unit (4) to determine the position of the submarine cable and the range of the covering to be cleared, and deploy the buoyancy unit (2) and multiple loading units (1); S2: Connecting the loading unit: The diver detachably connects the loading unit (1) and the buoyancy unit (2) via a hanging rope (7); S3: Loading the covering: The diver pulls the loading unit (1) to the designated submarine cable position and loads the submarine cable covering into the loading unit (1) until the loading volume reaches a preset value; S4: Buoyancy adjustment: The diver controls the underwater controller to trigger the buoyancy unit (2) to inflate, the buoyancy monitor (8) feeds back the buoyancy data in real time, and the controller adjusts the buoyancy of the buoyancy unit (2) until the loading unit (1) is slightly off the bottom; S5: Loading unit transfer: The diver controls the underwater manipulator to control the propulsion unit (3) to drive the buoyancy unit (2) to drive the loading unit (1) to move to the preset stacking point in a directional manner based on the position information fed back by the positioning unit (4); S6: Stacking the loading unit: The diver controls the underwater controller to deflate the buoyancy unit (2), and after the loading unit (1) is stably stacked at the stacking point, it is detached from the hanging rope (7); S7: Circular operation: repeat steps S2-S6 until the covering is cleaned.

10. The underwater transfer method according to claim 9, characterized in that: In step S4, during the buoyancy adjustment process, the diver cooperates with the observation of the height of the loading unit (1) above the ground and manually intervenes in the buoyancy increase and decrease control of the buoyancy unit (2); In step S5, the preset stacking point meets the following requirements: the bottom of the stone dam slope is 5-10m away from the east and west sides of the submarine cable, and the elevation of the bottom of the stone dam slope is lower than that of the submarine cable; the stacking point is the bottom of the stone dam slope.

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