Underwater equipment recovery system and zero-gravity cable thereof

Abstract

The invention discloses an underwater equipment recovery system and a zero-gravity cable thereof, the underwater equipment recovery system comprises a docking robot and a parent body, one end of the zero-gravity cable is connected with the docking robot, and the other end of the zero-gravity cable is connected with the parent body; the zero-gravity cable comprises a cable, and the docking robot is used for capturing the underwater equipment so as to recycle the underwater equipment; the cable is used for supplying power to the docking robot; the zero-gravity cable is provided with a plurality of inflation cavities, and each zero-gravity cable is provided with at least two independent inflation devices. A control valve is arranged at the end, used for being connected with the butt joint robot, of the zero-gravity cable, and the control valve is connected with the inflation cavity and used for controlling the inflation cavity to be connected or disconnected. According to the zero-gravity cable, the gravity influence can be avoided while power is supplied to the docking robot, the load of the docking robot is reduced, and recovery of underwater equipment is guaranteed.

Description

Case Division Explanation:

[0001] This application is a divisional application of application number CN202411046127.7, filed on August 1, 2024, entitled "A zero-gravity cable and system for underwater equipment recovery". Technical Field

[0002] This invention belongs to the field of underwater robot technology, specifically relating to an underwater equipment recovery system and its zero-gravity cable. Background Technology

[0003] With the rise of marine engineering, underwater operations in the open ocean are becoming increasingly common. Existing docking robots are generally powered by batteries or cables. However, battery power has limited capacity, making it unsuitable for long-distance operation and prone to failure to return after power outages. Existing cable power supplies typically provide power on the surface or in the water. For underwater or submerged operations, this places an additional load on the docking robot, and the cables are prone to tangling, making them unsuitable for complex marine environments and long-distance power supply requirements. Summary of the Invention

[0004] In view of the above-mentioned defects or improvement needs of the existing technology, the present invention proposes an underwater equipment recovery system and its zero-gravity cable. The zero-gravity cable of the present invention can provide power to the docking robot while avoiding the influence of gravity, reducing the load on the docking robot, and ensuring the recovery of underwater equipment.

[0005] To achieve the above objectives, in some embodiments, a zero-gravity cable for an underwater equipment recovery system is proposed. The underwater equipment recovery system includes a docking robot and a mother body. One end of the zero-gravity cable is connected to the docking robot, and the other end is connected to the mother body. The zero-gravity cable includes a cable, and the docking robot is used to capture underwater equipment, thereby enabling the recovery of the underwater equipment; The cable is used to power the docking robot; The zero-gravity cable has multiple inflatable cavities, and each zero-gravity cable has at least two independent inflation devices. The zero-gravity cable has a control valve at one end for connecting to the docking robot. The control valve is connected to the inflation cavity and is used to control the connection or disconnection of the inflation cavity.

[0006] In some embodiments, each of the inflatable cavities is provided with an independent inflation device.

[0007] In some embodiments, the inflation device is mounted on the mother body.

[0008] In some embodiments, the buoyancy of the entire zero-gravity cable is adjusted by independently inflating and controlling the air pressure of two air cavities, adapting to the motion state of the zero-gravity cable.

[0009] In some embodiments, during the descent and recovery process of the zero-gravity cable, the air pressure of the inflation cavity is reduced so that the buoyancy of the zero-gravity cable is less than the weight of the zero-gravity cable, thereby giving the zero-gravity cable itself a downward driving force under the action of gravity. During the cable deployment process, i.e. the ascent of the zero-gravity cable, the docking robot is in an ascending state, increasing the air pressure in the inflation cavity so that the buoyancy of the zero-gravity cable is greater than its weight, thus giving the zero-gravity cable itself an upward driving force under the action of buoyancy.

[0010] In some embodiments, the zero-gravity cable has three inflation cavities, namely a first inflation cavity, a second inflation cavity, and a third inflation cavity; every two adjacent inflation cavities are connected by a control valve.

[0011] In some embodiments, the inflatable cavity has an inflatable support structure, which includes an inflatable column, an inflatable hole, and a connecting rod. Each inflatable cavity has two inflatable columns, which are connected by a connecting rod. The inflatable columns extend along the length of the zero-gravity cable. The center of the inflatable column is a hollow structure, and the inflatable column has multiple inflatable holes. An inflation device is connected to the inflatable column.

[0012] In some embodiments, the inflatable cavities are two symmetrically arranged cavities.

[0013] In some embodiments, the inflatable cavity has a cavity skin, and the connecting rod is tangentially connected to the outer side of the inflatable column. After the inflatable cavity is flattened, the cavity skin is tightly attached to the connecting rod and the inflatable column.

[0014] In some embodiments, an underwater device recovery system is also provided, the recovery system further comprising a docking robot, a mother body, and a zero-gravity cable as described in any of the preceding embodiments.

[0015] There are two zero-gravity cables and two docking robots. Each docking robot is connected to the mother body through one of the zero-gravity cables, and the two docking robots dock with the underwater equipment simultaneously.

[0016] In summary, compared with the prior art, the embodiments conceived by this invention have the following beneficial effects: The zero-gravity cable can supply power to the docking robot while avoiding the influence of gravity, reducing the load on the docking robot, ensuring the recovery of underwater equipment, and preventing entanglement. The zero-gravity cable adopts a dual-inflation cavity design, which not only improves inflation efficiency and ensures buoyancy, but also achieves redundancy, ensuring zero-gravity operation even if one inflation cavity fails. A control valve connects the two inflation cavities, controlling their connection or disconnection, allowing them to operate independently or in conjunction. Each zero-gravity cable is equipped with two independent inflation devices, each inflating one inflation cavity. Furthermore, each inflation cavity can be individually deflated, facilitating buoyancy adjustment and recovery, adapting to different underwater environments, and preventing entanglement.

[0017] It is understood that the technical effects of this application include, but are not limited to, the above summary. For details of the technical effects of other specific embodiments, please refer to the corresponding descriptions in the Specific Embodiments section. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of an underwater equipment recovery system according to an embodiment of the present invention; Figure 2 This is a schematic diagram of the cross-sectional structure of a zero-gravity cable according to an embodiment of the present invention; Figure 3 This is a schematic diagram of the cross-sectional structure of the control valve of a zero-gravity cable according to an embodiment of the present invention; Figure 4 for Figure 3 Schematic diagram of section AA; Figure 5 This is a schematic diagram of a zero-gravity cable with three inflatable cavities according to an embodiment of the present invention; Figure 6 This is a schematic diagram of the composite material layer structure of a zero-gravity cable according to an embodiment of the present invention; Figure 7 This is a schematic cross-sectional view of a zero-gravity cable according to an embodiment of the present invention; Figure 8 This is a schematic diagram of an inflatable support structure for a zero-gravity cable according to an embodiment of the present invention. Detailed Implementation

[0019] Embodiments of the present invention will now be described with reference to the accompanying drawings. Those skilled in the art will recognize that the described embodiments can be modified in various ways or combinations thereof without departing from the spirit and scope of the invention. Therefore, the drawings and description are illustrative in nature and not intended to limit the scope of the claims. Furthermore, in this specification, the drawings are not drawn to scale, and the same reference numerals denote the same parts.

[0020] Some embodiments of the present invention provide a zero-gravity cable for underwater equipment recovery, which is applied to an underwater equipment recovery system for the recovery of underwater equipment. Figure 1 This is a schematic diagram of a water-based equipment recovery system according to an embodiment of the present invention. (Reference) Figure 1 In some embodiments, the underwater equipment recovery system includes a zero-gravity cable 1000, which further includes an underwater device 2000, a docking robot 3000, and a parent body 4000. One end of the zero-gravity cable 1000 is connected to the docking robot 3000 (enlarged with arrows in the figure for illustration), and the other end is connected to the parent body 4000. The zero-gravity cable 1000 for underwater equipment recovery includes a cable. One end of the zero-gravity cable is used to connect to the docking robot, and the other end is used to connect to the parent body. The docking robot 3000 is used to capture the underwater device 2000, thereby recovering the underwater device. The cable is used to supply power to the docking robot 3000. Specifically, during the recovery of the underwater device, the docking robot is released from the parent body. The docking robot has a power unit, and the cable can supply power to the power unit. The power unit includes a motor and a drive propeller. The docking robot approaches the underwater device under the drive of the power unit. Generally, the parent body is located below the underwater device. In some embodiments, the underwater device 2000 is an underwater robot. In some embodiments, the underwater device 2000 can float on the water surface, with its bottom surface submerged in the water. The bottom surface of the underwater device has a docking device, and the top of the docking robot has a docking structure that matches the docking device. After the docking robot approaches the underwater device, the docking structure matches the docking device to complete the docking, and the parent body retracts the zero-gravity cable, thereby pulling the underwater device back to the parent body.

[0021] In some embodiments, there are two zero-gravity cables 1000 connected to the same parent body. There are two docking robots 3000, each connected to the parent body 4000 via one of the zero-gravity cables 1000, and both docking robots 3000 simultaneously dock with the underwater device 2000. In some embodiments, the parent body has a retraction device 5000. The zero-gravity cables 1000 are released and retrieved via the retraction device 5000. The zero-gravity cables 1000 can be wound around the retraction device 5000. In some embodiments, the parent body has a buffer locking mechanism 6000. When the underwater device is retracted to the parent body, the underwater device contacts and locks with the buffer locking mechanism to prevent collision damage.

[0022] Figure 2This is a schematic cross-sectional view of a zero-gravity cable for underwater equipment recovery according to an embodiment of the present invention. (Reference) Figure 2 The zero-gravity cable 1000 for underwater equipment recovery includes a cable 100. One end of the zero-gravity cable is connected to a docking robot, and the other end is connected to a host structure. The docking robot captures the underwater equipment, thereby recovering it. The cable supplies power to the docking robot. In some embodiments, the zero-gravity cable 1000 further includes a buoyancy structure 200, which includes an inflatable cavity 201. The buoyancy structure ensures that the buoyancy force on the zero-gravity cable in water equals its weight, thus placing it in a zero-gravity state. It is understood that the water can be seawater or freshwater. Furthermore, by providing the inflatable cavity, the zero-gravity cable is in an expanded state when inflated, subjected to radial outward tension. This results in greater overall stiffness and less bending of the cable. Consequently, during lifting and recovery, the cable is less prone to tangling due to its inflated state, making motion control easier.

[0023] In some embodiments, the zero-gravity cable includes at least two inflatable cavities, the cable is disposed at the center of the zero-gravity cable, and the at least two inflatable cavities extend along the cable. In some embodiments, the zero-gravity cable has two inflatable cavities, the cable is disposed at the center of the zero-gravity cable, the two inflatable cavities extend along the cable and are symmetrically disposed on both sides of the cable.

[0024] Figure 3 This is a schematic diagram of the cross-sectional structure of the control valve of a zero-gravity cable according to an embodiment of the present invention. Figure 4 for Figure 3 Schematic diagram of section AA. (Reference) Figure 3 and Figure 4 In some embodiments, a control valve 300 is provided at the end of the zero-gravity cable used to connect to the docking robot. The control valve 300 is connected to an inflation cavity and is used to control the connection or disconnection of the inflation cavity. Figure 2 and Figure 3 In the illustrated embodiment, the zero-gravity cable has two inflatable cavities, and the control valve 300 is connected to the two inflatable cavities to control whether the two inflatable cavities are connected or disconnected.

[0025] In some embodiments, the end of the zero-gravity cable connected to the main body has an inflation device 400, which can be installed on the main body. In some embodiments, the main body is provided with an inflation device, and each zero-gravity cable is provided with at least two independent inflation devices, each inflation device can inflate at least one inflation cavity. In some embodiments, the zero-gravity cable has two inflation cavities, and each inflation device inflates one inflation cavity respectively.

[0026] In the embodiments of this application, two inflation cavities and two independent inflation devices are provided, with each independent inflation device corresponding to one inflation cavity. The two inflation cavities are connected by a control valve to ensure inflation reliability and prevent inflation failure due to malfunction of a single inflation cavity or inflation device, especially damage or blockage of the inflation cavity. When both inflation devices are working normally, the control valve is closed, and the two inflation cavities are independently inflated and their air pressure is controlled, ensuring inflation efficiency and stability. If one inflation device malfunctions, the control valve can be opened, allowing the other inflation device to directly inflate both inflation cavities. If one inflation cavity is damaged and leaking air, the control valve can be closed, and the air pressure of the other inflation cavity can be increased to maintain buoyancy.

[0027] In the embodiments of this application, by independently inflating and controlling the air pressure of two inflation cavities, the air pressure of the inflation cavities can be easily controlled and adjusted, thereby regulating the buoyancy of the entire zero-gravity cable to adapt to its movement state, preventing tangling and improving efficiency. For example, during the cable deployment process, i.e., during the ascent of the zero-gravity cable, the docking robot is in an ascending state. The air pressure of the inflation cavities can be appropriately increased so that the buoyancy of the zero-gravity cable is greater than its weight. Thus, the zero-gravity cable itself has an upward driving force under the action of buoyancy, reducing the driving force required by the docking robot, making it easier and faster for the docking robot to approach the underwater equipment to be docked. Of course, the buoyancy of the zero-gravity cable should not be too greater than its weight to avoid the zero-gravity cable moving upward faster than the docking robot, pulling on the docking robot and preventing the docking robot from going out of control. During the descent and retrieval of the zero-gravity cable, the docking robot descends along with the underwater equipment. The air pressure in the inflation cavity can be appropriately reduced to ensure the buoyancy of the zero-gravity cable is less than or equal to its weight. This allows the cable itself to have a downward driving force or float under gravity, making it easy for the underwater equipment to be retrieved by the retrieval device on the main body. However, the buoyancy of the zero-gravity cable must not be too less than its weight to prevent it from moving downwards too quickly under gravity, pulling on the docking robot and causing it to lose control. Furthermore, the downward speed of the cable must not exceed the retrieval speed of the device, as this could cause the cable to stack and become entangled, hindering retrieval.

[0028] In some embodiments, during the zero-gravity cable retrieval and / or cable deployment process, the buoyancy of the zero-gravity cable is equal to the weight of the zero-gravity cable. This can improve drive efficiency, reduce energy loss, effectively prevent tangling, and facilitate motion control.

[0029] In some embodiments, the zero-gravity cable has multiple inflation cavities, with three or more cavities, such as three, four, or five. In some embodiments, the number of inflation cavities is no more than five. By providing two or more inflation cavities, the reliability of inflation can be ensured, avoiding inability to inflate due to damage or blockage of a single inflation cavity. Furthermore, having no more than five inflation cavities simplifies the structure, reduces manufacturing difficulties, and avoids easy blockage due to excessively small cross-sectional dimensions of individual inflation cavities. In some embodiments, the number of inflation cavities is 2-5, with each inflation cavity corresponding to an independent inflation device, and the number of independent inflation devices is 2-5. Providing multiple independent inflation devices ensures inflation pressure and improves inflation efficiency. In some embodiments, two or more inflation cavities share one independent inflation device. Of course, each zero-gravity cable has at least two independent inflation devices. The inflation cavities corresponding to these two independent inflation devices are connected via a control valve. Under the action of the control valve, the two inflation cavities are connected or disconnected. When the two inflation cavities are connected, each independent inflation device can inflate both cavities, and the air pressure in both cavities is the same. When the two inflation cavities are disconnected, each independent inflation device can only inflate its corresponding cavity, and the air pressure in the two cavities may be different.

[0030] In the embodiments of this application, by setting multiple inflation cavities and multiple independent inflation devices, the reliability and efficiency of inflation are further ensured, and the anti-tangling effect is better. In addition, the air pressure in the multiple inflation cavities can be controlled so that the air pressure in different inflation cavities is different, which can adapt to the influence of water flow direction.

[0031] refer to Figure 5 The zero-gravity cable has three inflation cavities: a first inflation cavity 2011, a second inflation cavity 2012, and a third inflation cavity 2013. Each inflation cavity is equipped with an independent inflation device, resulting in three independent inflation devices. Every two adjacent inflation cavities are connected by control valves 300; specifically, a first control valve 301 connects the first inflation cavity 2011 and the second inflation cavity 2012, a second control valve 302 connects the second inflation cavity 2012 and the third inflation cavity 2013, and a third control valve 303 connects the third inflation cavity 2013 and the first inflation cavity 2011.

[0032] Figure 6 This is a schematic diagram of the composite material layer structure of a zero-gravity cable according to an embodiment of the present invention. (Reference) Figure 2 and Figure 6The zero-gravity cable is wrapped with a composite material layer 500, which is made of a high-strength material. The composite material layer is made of a flexible, bend-resistant material. The composite material layer ensures that the zero-gravity cable can be wound without bending, thus avoiding damage to the inflation cavity and cable, while also facilitating recycling. In some embodiments, the composite material layer includes a tensile layer 501, a bending layer 502, and a protective layer 503, with the protective layer and the tensile layer disposed around the outer periphery of the tensile layer and the bending layer, respectively. The tensile layer 501 has high strength to prevent the zero-gravity cable from breaking due to excessive tensile force. The tensile layer 501 can be composed of metal wires arranged in a mesh structure. The metal wires can be stainless steel. The bending layer 502 has high rigidity to prevent the zero-gravity cable from bending due to excessive bending moment. The bending layer 502 can be flexible plastic. The protective layer 503 has good wear resistance and corrosion resistance to prevent the zero-gravity cable from being worn and corroded in seawater environments and during recycling. The protective layer 503 can be made of rubber. By sequentially setting the flexural layer, tensile layer, and protective layer, with the flexural layer on the innermost side and the protective layer on the outermost side, it can effectively prevent wear, breakage, and bending.

[0033] refer to Figure 2 In some embodiments, the cable has an insulation layer 600 on its outer periphery, which is disposed between the cable and the inflatable cavity. The insulation layer 600 is disposed in close contact with the cable, serving to insulate and protect the cable.

[0034] In some embodiments, the inflatable cavity has a cavity skin 202. The cavity skin 202 may be composed of an elastic material. The cavity skin has good flexibility and elasticity, allowing it to adapt to different inflation pressures. The cavity skin 202 also has good airtightness. In some embodiments, the cavity skin 202 may be a rubber material. In some embodiments, the space between the composite material layer 500 and the insulating layer 600, excluding the inflatable cavity, has a filling material 700. The filling material 700 may be a porous flexible material, such as foam. The filling material 700 has a shaping and protective function, and also increases buoyancy. Figure 2 As shown, the filling material 700 has a certain shape and an inflatable cavity in the middle. When the cavity is inflated, the cavity skin 202 is tightly attached to the filling material 700 and fills the inflatable cavity.

[0035] Figure 7 This is a schematic cross-sectional view of a zero-gravity cable according to an embodiment of the present invention. In some embodiments, such as... Figure 7 As shown, the inflatable cavity 201 has an inflatable support structure. Figure 8 This is a schematic diagram of an inflatable support structure for a zero-gravity cable according to an embodiment of the present invention. (Reference) Figure 7 and Figure 8In some embodiments, the inflatable support structure includes inflatable columns 203, inflatable holes 204, and connecting rods 205. Each inflatable cavity 201 contains two inflatable columns 203, which are connected by connecting rods 205. Multiple connecting rods 205 are spaced apart between the two inflatable columns 203. The inflatable columns 203 extend along the longitudinal direction of the inflatable cavity 201, i.e., the length of the zero-gravity cable. The inflatable columns 203 are annular, with a hollow center, and have multiple inflatable holes 204. The multiple inflatable holes 204 can be arranged at intervals on the inflatable columns 203. The multiple inflatable holes 204 can be staggered to prevent blockage. An inflation device is connected to the inflatable columns 203. During inflation, the inflation device transmits gas through the hollow center of the inflatable column 203, and the gas enters the inflatable cavity through the inflatable holes 204. In some embodiments, the inflatable support structure can be wound together with the zero-gravity cable. In this embodiment, the composite material layer 500 can be a compressible and deformable structure. During the retrieval of the zero-gravity cable, the inflatable cavity 201 that has been retrieved into the parent structure can be completely flattened, and the entire zero-gravity cable can be flattened and then wound, thereby reducing the retrieval space. In this embodiment, there are two symmetrically arranged inflatable cavities 201. After the inflatable cavities are flattened, the zero-gravity cable as a whole has a flat shape. Specifically, the connecting rod 205 is tangentially connected to the outer side of the inflatable column 203. After the inflatable cavity 201 is flattened, the cavity skin 202 can be tightly attached to the connecting rod 205 and the inflatable column 203. In this embodiment, no filling material or a softer filling material may be used. The inflatable support structure itself can serve as a support structure. The cavity skin 202 is wrapped around the inflatable support structure and will not shift. The shape and position of the inflated and flattened states are controllable.

[0036] refer to Figure 1 The zero-gravity cable provided by this invention is applied to an underwater equipment recovery system. Each underwater equipment recovery system has two zero-gravity cables. During the recovery process, the buoyancy of the two zero-gravity cables can be controlled to reduce or even avoid the gravitational influence of the cables, thereby making it easier to control the force balance at both ends of the underwater equipment and ensuring stable recovery of the equipment. In some embodiments, the attitude locking of the docking robot can also be controlled, and the tension of the two zero-gravity cables can be precisely controlled to ensure the attitude balance of the underwater equipment and keep it in a horizontal state.

[0037] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A zero-gravity cable for an underwater equipment recovery system, characterized in that, The underwater equipment recovery system includes a docking robot and a mother body, with one end of the zero-gravity cable connected to the docking robot and the other end connected to the mother body; The zero-gravity cable includes a cable, and the docking robot is used to capture underwater equipment, thereby enabling the recovery of the underwater equipment; The cable is used to power the docking robot; The zero-gravity cable has multiple inflatable cavities, and each zero-gravity cable has at least two independent inflation devices. The zero-gravity cable has a control valve at one end for connecting to the docking robot. The control valve is connected to the inflation cavity and is used to control the connection or disconnection of the inflation cavity.

2. The zero-gravity cable according to claim 1, characterized in that, Each of the aforementioned air-filled cavities is provided with an independent air-filling device.

3. The zero-gravity cable according to claim 2, characterized in that, The inflation device is installed on the mother body.

4. The zero-gravity cable according to claim 3, characterized in that, By independently inflating and controlling the air pressure in two air cavities, the buoyancy of the entire zero-gravity cable can be adjusted to adapt to the movement state of the zero-gravity cable.

5. The zero-gravity cable according to claim 4, characterized in that, During the descent and recovery process of the zero-gravity cable, the air pressure in the inflation cavity is reduced so that the buoyancy of the zero-gravity cable is less than its weight. As a result, the zero-gravity cable itself has a downward driving force under the action of gravity. During the cable deployment process, i.e. the ascent of the zero-gravity cable, the docking robot is in an ascending state, increasing the air pressure in the inflation cavity so that the buoyancy of the zero-gravity cable is greater than its weight, thus giving the zero-gravity cable itself an upward driving force under the action of buoyancy.

6. The zero-gravity cable according to claim 5, characterized in that, The zero-gravity cable has three inflation cavities: a first inflation cavity, a second inflation cavity, and a third inflation cavity; each pair of adjacent inflation cavities is connected by a control valve.

7. The zero-gravity cable according to claim 5, characterized in that, The inflatable cavity has an inflatable support structure, which includes an inflatable column, an inflatable hole, and a connecting rod. Each inflatable cavity has two inflatable columns, which are connected by a connecting rod. The inflatable columns extend along the length of the zero-gravity cable. The center of the inflatable column is a hollow structure, and the inflatable column has multiple inflatable holes. The inflation device is connected to the inflatable column.

8. The zero-gravity cable according to claim 7, characterized in that, The inflatable cavities are two symmetrically arranged.

9. The zero-gravity cable according to claim 8, characterized in that, The inflatable cavity has a cavity skin, and the connecting rod is tangentially connected to the outer side of the inflatable column. After the inflatable cavity is flattened, the cavity skin is tightly attached to the connecting rod and the inflatable column.

10. A water-based equipment recovery system, characterized in that, The recovery system also includes a docking robot, a mother robot, and a zero-gravity cable as described in any one of claims 1-9; There are two zero-gravity cables and two docking robots. Each docking robot is connected to the mother body through one of the zero-gravity cables, and the two docking robots dock with the underwater equipment simultaneously.

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