An undersea cable information monitoring apparatus

Abstract

The application discloses a kind of submarine cable information monitoring equipment, belong to cable protection monitoring technical field, including underwater robot, still include: folding extension mechanism, monitoring mechanism and fixed-point marking mechanism, the underwater robot shell lower side is equipped with folding and extension folding extension mechanism, the folding extension mechanism output end is equipped with the monitoring mechanism that carries out multi-flow monitoring to submarine cable, the folding extension mechanism output end is equipped with the fixed-point marking mechanism that is clamped to the damage site of submarine cable Marking, the fixed-point marking mechanism includes: self-clamping marking component and clamping moving component, the folding extension mechanism output end is equipped with multiple self-clamping marking components that provide positioning mark.By the above mode, the part that cable needs to be overhauled can be quickly oriented and marked, and subsequent workers can be easily overhauled according to the mark point, and a variety of sensors can be continuously and comprehensively monitored and evaluated along the submarine cable.

Description

Technical Field

[0001] This invention relates to the field of cable protection and monitoring technology, specifically a submarine cable information monitoring device. Background Technology

[0002] Submarine cable monitoring equipment is an important facility for ensuring the safe and stable operation of submarine cables. It is mainly used to monitor the operating status of the cables and usually carries a variety of sensors for monitoring. Acoustic sensors use sound waves to detect underwater environment, objects and structures, optical sensors acquire visual images of underwater targets, and electromagnetic sensors detect electromagnetic signals, etc., to assess the health status of the cable and subsequently repair any damaged parts. The seabed environment where submarine cables are located has extremely low visibility and huge water pressure. In addition, the cables themselves are laid over extremely long distances, resulting in a long monitoring cycle.

[0003] Chinese patent CN223485220U discloses an online monitoring system for submarine cables, comprising a submarine cable temperature monitoring module, a submarine cable breakdown fault response module, a submarine cable surrounding environment monitoring module, a marine monitoring hull, a submarine cable environment display module, and a submarine cable GIS module. Two brackets are fixedly installed on the top of the marine monitoring hull, and a wireless transceiver is fixedly installed on the top of the hull. A controller is fixedly installed on the top of the hull, located to one side of the wireless transceiver. Adjustment mechanisms are provided inside each bracket. Protective mechanisms are provided at both ends of the marine monitoring hull. Each protective mechanism includes mounting slots at both ends of the marine monitoring hull. A bidirectional lead screw is rotatably connected inside one mounting slot, and a positioning rod is fixedly connected inside the other mounting slot. U-shaped frames are threaded to both ends of the outer side of the bidirectional lead screw, and the U-shaped frames are slidably connected to the positioning rod. The protective mechanism also includes self-cleaning glass fixedly connected to both ends of the top of the marine monitoring hull, with U-shaped storage slots on the adjacent sides of the two self-cleaning glass units.

[0004] However, the technical solution of this patent has the following problems:

[0005] This patent does not allow for the rapid directional marking of cable sections requiring maintenance, enabling subsequent maintenance work to be carried out based on the marked points.

[0006] Based on this, the present invention designs a submarine cable information monitoring device to solve the above problems. Summary of the Invention

[0007] In view of the above-mentioned shortcomings of the existing technology, the present invention provides a submarine cable information monitoring device.

[0008] To achieve the above objectives, the present invention provides the following technical solution:

[0009] A submarine cable information monitoring device includes an underwater robot, and further includes: a folding extension mechanism, a monitoring mechanism, and a fixed-point marking mechanism. The folding extension mechanism for folding and extending is installed on the lower side of the underwater robot shell. The monitoring mechanism for multi-process monitoring of the submarine cable is installed at the output end of the folding extension mechanism. The fixed-point marking mechanism for clamping and marking damaged parts of the submarine cable is installed at the output end of the folding extension mechanism.

[0010] The positioning marking mechanism includes a self-clamping marking component and a clamping moving component. The output end of the folding extension mechanism is equipped with a plurality of self-clamping marking components that provide positioning marks. The self-clamping marking component is equipped with a clamping moving component that clamps and moves a portion of the self-clamping marking component to a preset position on the cable.

[0011] Furthermore, the folding extension mechanism includes a folding component and an extension component, wherein the folding component is mounted on the underside of the underwater robot's shell, and the extension component is mounted on the folding component.

[0012] Furthermore, the folding assembly includes: an upper rotating frame, an electric telescopic rod, a lower rotating frame, and a vertical support. One end of the upper rotating frame is rotatably connected to the lower side of the underwater robot's shell via a pivot. One end of the electric telescopic rod is hinged to the lower side of the underwater robot's shell, and the end of the electric telescopic rod away from the underwater robot's shell is hinged to the middle side of the upper rotating frame. One end of the lower rotating frame is rotatably connected to the lower side of the underwater robot's shell via a pivot. One end of the vertical support is rotatably connected to the side of the upper rotating frame away from the underwater robot's shell via a pivot. The end of the vertical support away from the upper rotating frame is rotatably connected to the side of the lower rotating frame away from the underwater robot's shell via a pivot. The upper rotating frame, the vertical support, the lower rotating frame, and the underwater robot's shell form a parallelogram.

[0013] Furthermore, the extension assembly includes a sliding bracket and a servo cylinder. The sliding bracket is slidably connected to the side of the lower rotating frame away from the underwater robot shell, and the servo cylinder is fixedly mounted on the lower rotating frame. The output end of the servo cylinder is fixedly connected to the sliding bracket.

[0014] Furthermore, multiple first cameras are fixedly installed on the hull of the underwater robot, which facilitates staff to observe the external environment of the underwater robot and assist in locating submarine cables.

[0015] Furthermore, the self-clamping marking assembly includes a clamping assembly and a marking assembly, wherein the clamping assembly is mounted on the end of the sliding bracket away from the lower rotating frame, and the marking assembly is mounted on the clamping assembly.

[0016] Furthermore, the clamping assembly includes a limiting component and a fixing component, wherein the limiting component is installed at the end of the sliding bracket away from the lower rotating frame, and the fixing component is installed on the limiting component.

[0017] Furthermore, the limiting component includes a receiving frame and magnets. The receiving frame is fixedly installed at one end of the sliding bracket away from the lower rotating bracket. The receiving frame has multiple slots for accommodating the fixing component, and the multiple magnets are fixedly installed in the slots.

[0018] Furthermore, the fixing assembly includes: a marking shell, a worm gear, an arc-shaped bracket, a reduction motor, and a worm. The marking shell is located within a receiving frame. Two worm gears are symmetrically distributed on the left and right sides of the marking shell. The worm gears are rotatably connected to the marking shell via a rotating shaft. The arc-shaped bracket is fixedly mounted on the worm gear. The reduction motor is fixedly mounted on the marking shell. One end of the worm is rotatably connected to the marking shell, and the other end of the worm is fixedly mounted on the output shaft of the reduction motor. Each worm gear meshes with the worm. A power supply and a control mainboard are fixedly installed inside the marking shell. The power supply is electrically connected to the control mainboard, and the reduction motor is electrically connected to the control mainboard.

[0019] Furthermore, the marking component includes a wireless communication module and a GPS module, both of which are fixedly installed inside the marking housing and electrically connected to the control motherboard.

[0020] Furthermore, the clamping and moving assembly includes: a first linear module, a sliding frame, a second linear module, and an electric gripper. The first linear module is fixedly mounted on the receiving frame. The sliding frame is slidably connected to the output end of the first linear module. The second linear module is fixedly mounted on the output end of the first linear module. The output end of the second linear module is fixedly connected to the side of the sliding frame away from the output end of the first linear module. The electric gripper is fixedly mounted on the lower side of the sliding frame.

[0021] Furthermore, the monitoring mechanism includes: a second camera, a three-dimensional real-time imaging sonar system, and a pipeline detector. The second camera, the three-dimensional real-time imaging sonar system, and the pipeline detector are all fixedly installed in the housing frame. A control chip is fixedly installed inside the underwater robot shell. The control chip is electrically connected to the underwater robot's power supply. The second camera, the three-dimensional real-time imaging sonar system, the pipeline detector, the electric telescopic rod, the servo electric cylinder, the first camera, and the electric gripper are all electrically connected to the control chip. The control chip can be set to Qualcomm QRB5165, which is suitable for industrial and consumer robots and drones, to realize remote control of the monitoring mechanism.

[0022] Compared with the prior art, the beneficial effects of the present invention are as follows: 1. The present invention uses the first linear module output end of the clamping and moving component of the fixed-point marking mechanism to move the sliding frame to the preset self-clamping marking component position, the second linear module output end to move the sliding frame to the self-clamping marking component position, the sliding frame to move the electric gripper to the self-clamping marking component position, the electric gripper to start clamping the self-clamping marking component, then the second linear module output end to move the sliding frame, the first linear module output end to move the sliding frame to the preset cable position, the self-clamping marking component clamps the cable, providing real-time position marking information for operators in the external control center, which is beneficial for quickly directional marking of the parts of the cable that need to be repaired, and facilitates subsequent maintenance by staff according to the marking points;

[0023] 2. The system unfolds using folding components and extends using extension components, enabling the extension of the monitoring and marking mechanisms. Since some cable locations are situated between reefs and rocks, this avoids the underwater robot directly moving to the cable location and colliding with the surrounding environment. This facilitates monitoring and marking of areas inaccessible to the underwater robot through unfolding and extension. A second camera is used to monitor and assist in locating the submarine cable, directly observing cable surface wear, deformation, attached organisms, and the condition of joints and mechanical protection facilities such as cement blocks. A three-dimensional real-time imaging sonar system is used for high-precision measurement of underwater topography and structures. The underwater robot maps the seabed topography of the submarine cable area to check whether the cable is exposed, suspended, or buried by erosion. In low-visibility waters, it replaces optical equipment to identify the general outline of the cable, external damage such as large dents, and surrounding obstacles. The pipeline detector performs auxiliary measurements to locate the cable buried under the seabed and measure its burial depth. The measurement information is transmitted to the operators at the external control center via a control chip. The underwater robot moves along the cable while performing real-time multi-sensor detection, which improves the accuracy of cable health status monitoring and is conducive to continuous and comprehensive monitoring and evaluation of the submarine cable using multiple sensors. Attached Figure Description

[0024] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are merely some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without any creative effort.

[0025] Figure 1 This is a three-dimensional structural diagram of the present invention;

[0026] Figure 2 This is a front view of the present invention;

[0027] Figure 3 This is a bottom view of the present invention;

[0028] Figure 4 This is a top view of the present invention;

[0029] Figure 5 For along Figure 4 Sectional view along the AA direction;

[0030] Figure 6 This is a partial structural schematic diagram of the folding extension mechanism and clamping moving component of the present invention;

[0031] Figure 7 This is a partial structural schematic diagram of the limiting component and the clamping and moving component of the present invention;

[0032] Figure 8 This is a partial structural diagram of the limiting component and the fixing component of the present invention;

[0033] Figure 9 This is a schematic diagram of the structure of the housing frame and the monitoring mechanism of the present invention;

[0034] Figure 10 This is a partial structural diagram of the fixing component and the marking component of the present invention;

[0035] Figure 11 This is a schematic diagram of the extended state structure of the present invention.

[0036] The labels in the diagram represent:

[0037] 1. Underwater robot; 2. Folding extension mechanism; 21. Upper rotating frame; 22. Electric telescopic rod; 23. Lower rotating frame; 24. Vertical support; 25. Sliding support; 26. Servo electric cylinder; 3. Monitoring mechanism; 31. Second camera; 32. 3D real-time imaging sonar system; 33. Pipeline detector; 4. Fixed-point marking mechanism; 41. Receiving frame; 42. Magnet; 43. Slot; 44. Marking shell; 45. Worm gear; 46. Arc-shaped support; 47. Gear motor; 48. Worm; 49. Wireless communication module; 410. GPS module; 411. First linear module; 412. Sliding frame; 413. Second linear module; 414. Electric gripper; 5. First camera. Detailed Implementation

[0038] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0039] The present invention will be further described below with reference to embodiments.

[0040] The terms "left," "right," "front," "back," "up," and "down" used in the following description refer to the orientation from the perspective of the front view.

[0041] Example 1: In some examples, please refer to Figures 1-11 A submarine cable information monitoring device includes an underwater robot 1, and further includes a folding extension mechanism 2, a monitoring mechanism 3, and a fixed-point marking mechanism 4. The folding extension mechanism 2 for folding and extending is installed on the lower side of the shell of the underwater robot 1. The monitoring mechanism 3 for multi-process monitoring of the submarine cable is installed at the output end of the folding extension mechanism 2. The fixed-point marking mechanism 4 for clamping and marking the damaged parts of the submarine cable is installed at the output end of the folding extension mechanism 2.

[0042] The fixed-point marking mechanism 4 includes a self-clamping marking component and a clamping moving component. The output end of the folding extension mechanism 2 is equipped with a plurality of self-clamping marking components that provide positioning marks. The self-clamping marking component is equipped with a clamping moving component that clamps and moves some parts of the self-clamping marking component to a preset position of the cable.

[0043] The folding extension mechanism 2 includes a folding component and an extension component. The folding component is installed on the underside of the shell of the underwater robot 1, and the extension component is installed on the folding component.

[0044] like Figure 1 , Figure 3 , Figure 5 , Figure 6 , Figure 11 As shown, the folding assembly includes: an upper rotating frame 21, an electric telescopic rod 22, a lower rotating frame 23, and a vertical support 24. One end of the upper rotating frame 21 is rotatably connected to the lower side of the underwater robot 1 shell via a pivot. One end of the electric telescopic rod 22 is hinged to the lower side of the underwater robot 1 shell, and the end of the electric telescopic rod 22 away from the underwater robot 1 shell is hinged to the middle side of the upper rotating frame 21. One end of the lower rotating frame 23 is rotatably connected to the lower side of the underwater robot 1 shell via a pivot. One end of the vertical support 24 is rotatably connected to the side of the upper rotating frame 21 away from the underwater robot 1 shell via a pivot, and the end of the vertical support 24 away from the upper rotating frame 21 is rotatably connected to the side of the lower rotating frame 23 away from the underwater robot 1 shell via a pivot. The upper rotating frame 21, the vertical support 24, the lower rotating frame 23, and the underwater robot 1 shell form a parallelogram.

[0045] The output end of the electric telescopic rod 22 of the folding component of the folding extension mechanism 2 extends and drives the upper rotating frame 21 to rotate. The rotation of the upper rotating frame 21 drives the lower rotating frame 23 and the vertical support 24 to rotate. The rotation stops after reaching the preset angle.

[0046] The extension assembly includes a sliding bracket 25 and a servo cylinder 26. The sliding bracket 25 is slidably connected to the side of the lower rotating frame 23 away from the outer shell of the underwater robot 1. The servo cylinder 26 is fixedly installed on the lower rotating frame 23, and the output end of the servo cylinder 26 is fixedly connected to the sliding bracket 25.

[0047] After the lower rotating frame 23 rotates to a preset angle and stops, the output end of the servo cylinder 26 of the extension component extends and drives the sliding bracket 25 to move away from the lower rotating frame 23. After the sliding bracket 25 moves to a preset position and stops moving, the equipment completes the unfolding action before monitoring. After the folding extension mechanism 2 is unfolded, it is convenient for the monitoring mechanism 3 and the fixed-point marking mechanism 4 to monitor and mark. Some cable positions are located between reefs and rocks, which can prevent the underwater robot 1 from moving directly to the cable position and colliding with the surrounding environment. It is beneficial to monitor and mark the positions that the underwater robot 1 cannot reach by unfolding and extending.

[0048] like Figure 1 , Figure 2 , Figure 3 As shown, multiple first cameras 5 are fixedly installed on the outer shell of the underwater robot 1, which facilitates the staff to observe the external environment of the underwater robot 1 and assist in the positioning of the submarine cable.

[0049] The self-clamping marking assembly includes a clamping assembly and a marking assembly. The clamping assembly is installed on the end of the sliding bracket 25 away from the lower rotating frame 23, and the marking assembly is installed on the clamping assembly.

[0050] The clamping assembly includes a limiting component and a fixing component. The limiting component is installed at the end of the sliding bracket 25 away from the lower rotating frame 23, and the fixing component is installed on the limiting component.

[0051] like Figure 8 As shown, the limiting component includes a receiving frame 41 and a magnet 42. The receiving frame 41 is fixedly installed at one end of the sliding bracket 25 away from the lower rotating bracket 23. The receiving frame 41 has a plurality of slots 43 for receiving the fixing component. The plurality of magnets 42 are fixedly installed in the slots 43.

[0052] like Figure 4 , Figure 6 , Figure 7 , Figure 8 , Figure 10As shown, the fixing assembly includes: a marking housing 44, a worm gear 45, an arc-shaped bracket 46, a reduction motor 47, and a worm 48. The marking housing 44 is located inside the receiving frame 41. Two worm gears 45 are symmetrically distributed on the left and right sides of the marking housing 44. The worm gears 45 are rotatably connected to the marking housing 44 via a rotating shaft. The arc-shaped bracket 46 is fixedly installed on the worm gears 45. The reduction motor 47 is fixedly installed on the marking housing 44. One end of the worm 48 is rotatably connected to the marking housing 44, and the other end of the worm 48 is fixedly installed on the output shaft of the reduction motor 47. Each worm gear 45 meshes with the worm 48. A power supply and a control main board are fixedly installed inside the marking housing 44. The power supply is electrically connected to the control main board, and the reduction motor 47 is electrically connected to the control main board.

[0053] Multiple slots 43 in the receiving frame 41 of the clamping component limit assembly are used to limit and separate the arc-shaped bracket 46 of the fixing component. Magnet 42 is used to attract the arc-shaped bracket 46 and fix it on the receiving frame 41. After the marking shell 44 is clamped by the clamping moving component, it is moved to a preset appropriate position of the cable. After the position of the marking shell 44 and the cable is determined by the monitoring mechanism 3 and the first camera 5, the control motherboard controls the output shaft of the reduction motor 47 to rotate, which drives the worm gear 48 to rotate. The rotation of the worm gear 48 drives the worm wheel 45 to rotate. The rotation of the two worm wheels 45 drives the two arc-shaped brackets 46 to rotate respectively, clamping the cable and fixing the marking shell 44 on the cable at a preset position.

[0054] The marking component includes a wireless communication module 49 and a GPS module 410, both of which are fixedly installed inside the marking housing 44 and electrically connected to the control motherboard.

[0055] The marker housing 44 is fixed to a preset position on the cable. The GPS module 410 of the marker component inside the marker housing 44 is used to provide positioning information, and the wireless communication module 49 is used for data communication, transmitting the power supply and control motherboard status information of the self-clamping marker component to the operator at the external control center.

[0056] The clamping and moving assembly includes: a first linear module 411, a sliding frame 412, a second linear module 413, and an electric gripper 414. The first linear module 411 is fixedly mounted on the receiving frame 41. The sliding frame 412 is slidably connected to the output end of the first linear module 411. The second linear module 413 is fixedly mounted on the output end of the first linear module 411. The output end of the second linear module 413 is fixedly connected to the side of the sliding frame 412 away from the output end of the first linear module 411. The electric gripper 414 is fixedly mounted on the lower side of the sliding frame 412.

[0057] The first linear module 411 of the clamping and moving component of the fixed-point marking mechanism 4 moves, causing the sliding frame 412 to move to the preset self-clamping marking component position. The second linear module 413 moves, causing the sliding frame 412 to move towards the self-clamping marking component position. The movement of the sliding frame 412 causes the electric gripper 414 to move towards the self-clamping marking component position. The electric gripper 414 starts to clamp the self-clamping marking component. Then, the second linear module 413 moves, causing the sliding frame 412 to move. The first linear module 411 moves, causing the sliding frame 412 to move to the preset cable position. The self-clamping marking component clamps the cable, providing real-time position marking information for operators in the external control center. This is beneficial for quickly marking the parts of the cable that need maintenance, making it easier for subsequent staff to carry out maintenance based on the marked points.

[0058] Example 2: In some embodiments, such as Figures 1-11 As shown, in a preferred embodiment of the present invention, the monitoring mechanism 3 includes: a second camera 31, a three-dimensional real-time imaging sonar system 32, and a pipeline detector 33. The second camera 31, the three-dimensional real-time imaging sonar system 32, and the pipeline detector 33 are all fixedly installed in the housing frame 41. A control chip is fixedly installed inside the shell of the underwater robot 1. The control chip is electrically connected to the power supply of the underwater robot 1. The second camera 31, the three-dimensional real-time imaging sonar system 32, the pipeline detector 33, the electric telescopic rod 22, the servo electric cylinder 26, the first camera 5, and the electric gripper 414 are all electrically connected to the control chip. The control chip can be set to Qualcomm QRB5165, which is suitable for industrial and consumer robots and drones, to realize remote control of the monitoring mechanism 3.

[0059] like Figure 9 As shown, the second camera 31 of the monitoring agency 3 is used to monitor and assist in locating the submarine cable, directly observing the wear, deformation, attached organisms, and condition of joints and mechanical protection facilities such as cement blocks on the cable surface. It records or photographs the detection process and suspicious parts, and transmits the captured information to the operators in the external control center through the control chip, providing intuitive evidence for subsequent analysis, comparison, and archiving. The three-dimensional real-time imaging sonar system 32 is used for high-precision measurement of underwater topography and structures, scanning the seabed topography of the submarine cable area, checking whether the cable is exposed, suspended, or eroded and buried. It replaces optical equipment in waters with low visibility, identifying the general outline of the cable, external damage such as large dents, and surrounding obstacles. The pipeline detector 33 performs auxiliary measurements, locates the cable buried under the seabed, and measures its burial depth. The measurement information is transmitted to the operators in the external control center through the control chip. The underwater robot 1 performs multi-sensor real-time detection while moving along the cable, improving the accuracy of cable health status monitoring and facilitating continuous comprehensive monitoring and evaluation of the submarine cable using multiple sensors.

[0060] Example 3: In some embodiments, such as Figures 1-11 As shown in the preferred embodiment of the present invention, in addition, the impact of marine organisms attached to submarine cables can be detected by the three-dimensional real-time imaging sonar system 32. The sound waves can penetrate the light or moderate biofilm layer to obtain the overall location and morphological information of the cable for a large-scale survey. Based on the data analysis, whether there is an impact is determined. If the impact is small, it usually does not need to be cleaned. If the impact is large, the thick biofilm will completely block the view and it will be impossible to directly observe the details such as wear and deformation on the cable surface. Depending on the situation, it is assessed whether it is necessary to mark the location to facilitate subsequent targeted cleaning.

[0061] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions will not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A submarine cable information monitoring device, comprising an underwater robot (1), characterized in that, Also includes: The underwater robot (1) is equipped with a folding extension mechanism (2), a monitoring mechanism (3) and a fixed-point marking mechanism (4). The folding extension mechanism (2) for folding and extending is installed on the lower side of the shell. The output end of the folding extension mechanism (2) is equipped with a monitoring mechanism (3) for multi-process monitoring of the submarine cable. The output end of the folding extension mechanism (2) is equipped with a fixed-point marking mechanism (4) for clamping and marking the damaged parts of the submarine cable. The folding extension mechanism (2) includes a sliding bracket (25). The fixed-point marking mechanism (4) includes: a self-clamping marking component and a clamping moving component. The output end of the folding extension mechanism (2) is equipped with a plurality of self-clamping marking components that provide positioning marks. The self-clamping marking component is equipped with a clamping moving component that clamps and moves some parts of the self-clamping marking component to a preset position of the cable. The self-clamping marking assembly includes a clamping assembly and a marking assembly, wherein the clamping assembly is mounted on one end of the sliding bracket (25) away from the lower rotating frame (23), and the marking assembly is mounted on the clamping assembly; The clamping assembly includes a limiting assembly and a fixing assembly. The limiting assembly is installed at one end of the sliding bracket (25) away from the lower rotating bracket (23). The fixing assembly is installed on the limiting assembly. The limiting assembly includes a receiving frame (41). The fixing components include: a marking shell (44), a worm gear (45), an arc-shaped bracket (46), a geared motor (47), and a worm (48). The marking shell (44) is located inside the receiving frame (41). Two worm gears (45) are symmetrically distributed on the left and right sides of the marking shell (44). The worm gears (45) are rotatably connected to the marking shell (44) through a rotating shaft. The arc-shaped bracket (46) is fixedly installed on the worm gears (45). The geared motor (47) is fixedly installed on the marking shell (44). One end of the worm (48) is rotatably connected to the marking shell (44), and the other end of the worm (48) is fixedly installed on the output shaft of the geared motor (47). Each worm gear (45) meshes with the worm (48). A power supply and a control main board are fixedly installed inside the marking shell (44). The power supply is electrically connected to the control main board, and the geared motor (47) is electrically connected to the control main board.

2. The submarine cable information monitoring equipment according to claim 1, characterized in that, The folding extension mechanism (2) further includes a folding component and an extension component, wherein the folding component is installed on the underside of the shell of the underwater robot (1) and the extension component is installed on the folding component.

3. The submarine cable information monitoring equipment according to claim 2, characterized in that, The folding assembly includes: an upper rotating frame (21), an electric telescopic rod (22), a lower rotating frame (23), and a vertical support (24). One end of the upper rotating frame (21) is rotatably connected to the lower side of the underwater robot (1) shell via a pivot. One end of the electric telescopic rod (22) is hinged to the lower side of the underwater robot (1) shell. The end of the electric telescopic rod (22) away from the underwater robot (1) shell is hinged to the middle side of the upper rotating frame (21). One end of the lower rotating frame (23) is connected to the lower side of the upper rotating frame (24) via a pivot. The vertical support (24) is rotatably connected to the lower side of the shell of the underwater robot (1). One end of the vertical support (24) is rotatably connected to the side of the upper rotating frame (21) away from the shell of the underwater robot (1) via a rotating shaft. The other end of the vertical support (24) away from the upper rotating frame (21) is rotatably connected to the side of the lower rotating frame (23) away from the shell of the underwater robot (1) via a rotating shaft. The upper rotating frame (21), the vertical support (24), the lower rotating frame (23) and the shell of the underwater robot (1) form a parallelogram.

4. The submarine cable information monitoring equipment according to claim 3, characterized in that, The extension assembly includes a servo electric cylinder (26), the sliding bracket (25) is slidably connected to the side of the lower rotating frame (23) away from the shell of the underwater robot (1), the servo electric cylinder (26) is fixedly installed on the lower rotating frame (23), and the output end of the servo electric cylinder (26) is fixedly connected to the sliding bracket (25).

5. The submarine cable information monitoring equipment according to claim 4, characterized in that, The limiting component further includes a magnet (42), the receiving frame (41) is fixedly installed at one end of the sliding bracket (25) away from the lower rotating frame (23), the receiving frame (41) has multiple slots (43), and multiple magnets (42) are fixedly installed in the slots (43).

6. The submarine cable information monitoring equipment according to claim 5, characterized in that, The tagging assembly includes a wireless communication module (49) and a GPS module (410), both of which are fixedly installed inside the tagging housing (44) and are electrically connected to the control motherboard.

7. The submarine cable information monitoring equipment according to claim 6, characterized in that, The clamping and moving assembly includes: a first linear module (411), a sliding frame (412), a second linear module (413), and an electric gripper (414). The first linear module (411) is fixedly mounted on the receiving frame (41). The sliding frame (412) is slidably connected to the output end of the first linear module (411). The second linear module (413) is fixedly mounted on the output end of the first linear module (411). The output end of the second linear module (413) is fixedly connected to the side of the sliding frame (412) away from the output end of the first linear module (411). The electric gripper (414) is fixedly mounted on the lower side of the sliding frame (412).

Images