Submarine cable tension intelligent monitoring device and method

Abstract

The invention discloses a submarine cable tension intelligent monitoring device and method, and belongs to the field of submarine cable construction. The device comprises a track, supporting wheels, warning wheels, a target tension monitoring wheel and a control module, wherein four warning wheels, one target tension monitoring wheel and a plurality of supporting wheels are transversely arranged on the track at intervals; the control module comprises a sensing sub-module, an analysis sub-module and a control sub-module. A formula of the horizontal distance L between the submarine cable grounding point A and the output end of the cable laying ship is preset in the controller, and the submarine cable grounding point distance Lopt under the optimal submarine cable tension is calculated, so that the position of the target tension monitoring wheel is determined, and then the positions of the minimum tension early warning wheel and the maximum tension early warning wheel are determined; the minimum tension alarm wheel and the maximum tension alarm wheel are determined according to the predetermined maximum tension and minimum tension of the submarine cable, the controller can judge the interval where the grounding point A is located, and the tension of the submarine cable is controlled within a reasonable interval, so that the safety of submarine cable laying construction is improved.

Description

Technical Field

[0001] This invention relates to an intelligent monitoring device and method for submarine cable tension, belonging to the field of submarine cable construction. Background Technology

[0002] In submarine cable laying, it is crucial to control the cable tension. Excessive tension can lead to permanent deformation or even breakage of the cable conductor, insulation layer, or armor layer. Insufficient tension, on the other hand, can cause the cable's bending radius to be less than the design allowable value, resulting in internal structural deformation and even dangerous coiling. However, due to numerous factors affecting cable tension during construction, its measurement and control are challenging. Therefore, a suitable tension range exists for the cable tension T(t) during laying. Designing an intelligent monitoring device and method to control the cable tension within this appropriate range has become an urgent technical problem to be solved. Summary of the Invention

[0003] To address the challenge of measuring and controlling submarine cable tension during installation, this invention provides an intelligent submarine cable tension monitoring device and method. This device and method can control the cable tension within a reasonable range, thereby improving the safety of submarine cable installation. It fully considers the impact of changes in external conditions on the controlled tension during installation, enabling real-time matching between the controlled tension and construction parameters, thus improving the accuracy of tension deviation control.

[0004] To solve the above technical problems, the present invention includes the following technical solutions:

[0005] A submarine cable tension intelligent monitoring device includes a track, a support wheel, a warning wheel, a target tension monitoring wheel, and a control module;

[0006] Two rails are set parallel to each other on the deck of the cable-laying vessel in the direction of the coastal cable's movement. They are used to fix the support wheels and provide the necessary guidance and support for the movement of the warning wheels and target tension monitoring wheels.

[0007] The track is horizontally spaced with four warning wheels, one target tension monitoring wheel, and several support wheels. Each warning wheel is equipped with a rotation sensor to monitor whether it is rotating. The four monitoring wheels, arranged from closest to furthest from the cable laying machine's output end, are designated as minimum tension alarm wheel, minimum tension warning wheel, maximum tension warning wheel, and maximum tension alarm wheel, respectively, and are labeled N1, N2, N3, and N4. Their horizontal distances from the cable laying machine are denoted as L1, L2, L3, and L4, respectively. The target tension monitoring wheel is located between N2 and N3. Both the warning wheels and the target tension monitoring wheel include a drive mechanism that can move and brake them.

[0008] The control module includes a sensing submodule, an analysis submodule, and a control submodule. The sensing submodule senses external construction parameters, including water depth M, ship speed V, cable turntable speed ω, common wave height Hs, and ocean current speed C. It also collects measurement data from the warning wheel and target tension monitoring wheel. The analysis submodule calculates and analyzes the acquired construction parameters. The horizontal distance between the cable contact point A and the output end of the cable-laying vessel is denoted as L. The analysis submodule has a pre-defined formula for calculating L: L = f(D, M, V, ω, Hs, C, F), where D is the cable diameter, a known value. The analysis submodule calculates the cable diameter based on a pre-determined maximum... The analysis submodule determines the values ​​of L4 and L1 based on the tension and minimum tension, and calculates the distance Lopt from the cable contact point based on the preset optimal tension of the submarine cable. The values ​​of L2 and L3 are then determined based on Lopt. The analysis submodule also determines whether the submarine cable is pressing on the warning wheel, identifies the area of ​​contact point A, determines whether the submarine cable is on the target tension monitoring wheel, and determines whether the submarine cable is at the optimal construction tension. The control submodule is used to control the drive mechanism to adjust the warning wheel and the target tension monitoring wheel to the corresponding positions based on the obtained values ​​of Lopt, L1, L2, L3, and L4. The control submodule is also used to send speed adjustment commands to the cable laying machine.

[0009] Furthermore, the target tension monitoring wheel is equipped with an elastic device. Under the action of the spring, the roller has a certain range of vertical movement. When the submarine cable presses on the target tension monitoring wheel, it will compress the spring of the elastic device. When the compression of the spring is within the preset range, it is determined that the submarine cable touches the ground at the location of the target tension monitoring wheel.

[0010] Furthermore, when the initial position of the target tension monitoring wheel is at the theoretical contact point, and the compression of the spring is within the preset range, it is determined that the submarine cable is in contact with the ground at the theoretical contact point; if the spring is not compressed to the preset range, it is determined that the submarine cable is not in contact with the ground at the theoretical contact point, and the contact point is located to the left of the theoretical contact point; if the spring is compressed beyond the preset range, it is determined that the submarine cable is not in contact with the ground at the theoretical contact point, and the contact point is located to the right of the contact point.

[0011] Furthermore, a pressure gauge is installed on the target tension monitoring wheel. When the pressure exerted by the submarine cable on the pressure gauge reaches the set threshold range [F1, F2], it is determined that the submarine cable has touched the ground at the location of the target tension monitoring wheel.

[0012] Furthermore, the initial position of the target tension monitoring wheel is located at the theoretical contact point. If the pressure on the pressure gauge reaches the set threshold range [F1, F2], it is determined that the submarine cable is in contact with the ground at the theoretical contact point. If the pressure does not reach F1, it is determined that the submarine cable is not in contact with the ground at the theoretical contact point, and the contact point is located to the left of the theoretical contact point. If the pressure exceeds F2, it is determined that the submarine cable is not in contact with the ground at the theoretical contact point, and the contact point is located to the right of the contact point.

[0013] Accordingly, the present invention also provides a method for intelligent monitoring of submarine cable tension, which uses the aforementioned intelligent monitoring device for monitoring, including:

[0014] Step 1: Determine the diameter D of the submarine cable, and use the sensing submodule of the controller to collect water depth M, ship speed V, cable turntable speed ω, common wave height Hs, and ocean current speed C;

[0015] Step 2: Determine the maximum tension Fmax of the submarine cable, calculate or simulate the minimum tension Fmin of the submarine cable at the entrance / exit bridge using finite element method, and substitute it into formula L to calculate the corresponding Lmax and Lmin respectively, thereby determining the values ​​of L4 and L1; determine the optimal tension of the submarine cable, substitute it into formula L to calculate Lopt, where Lopt is the horizontal distance between the contact point A under the optimal tension and the output end of the cable laying machine; determine the position of the target tension monitoring wheel based on Lopt, and determine the values ​​of L2 and L3;

[0016] Step 3: Install the intelligent submarine cable tension monitoring device on the deck of the cable-laying vessel, so that the positions of the four warning wheels correspond to L1, L2, L3, and L4, and the position of the target tension monitoring wheel corresponds to Lopt; the initial contact point of the submarine cable is located on the target tension monitoring wheel;

[0017] Step 4: During the submarine cable laying process, the controller collects measurement data from the warning wheel and the target tension monitoring wheel through the sensing submodule; the analysis submodule determines whether the submarine cable is pressing on the warning wheel, determines the range of the contact point A, determines whether the submarine cable falls on the target tension monitoring wheel, and determines whether the submarine cable is at the optimal construction tension; when the submarine cable contact point A exceeds the warning wheels N2 and N3, the control submodule sends a speed adjustment command to the cable laying machine, causing the cable laying machine to adjust the output speed of the submarine cable, so that the submarine cable contact point returns to between the warning wheels N2 and N3.

[0018] Furthermore, the analysis submodule determines the interval where touch point A is located, specifically as follows:

[0019] (1) When the rotation sensors of monitoring wheels N1 and N2 do not detect rotation signals, but monitoring wheels N3 and N4 detect rotation signals, the submarine cable contact point A is located between N2 and N3; the target tension monitoring wheel determines whether the contact point is located at the optimal contact point.

[0020] (2) When the rotation sensor of monitoring wheel N1 does not detect a rotation signal, but monitoring wheels N2, N3 and N4 detect a rotation signal, the submarine cable contact point A is located between N1 and N2, and a minimum tension warning message is issued; the controller can send a deceleration command to the cable laying machine until the contact point A returns to between N2 and N3;

[0021] (3) When the rotation sensor of monitoring wheel N1 detects a rotation signal, it issues a minimum tension alarm message;

[0022] (4) When the rotation sensors of monitoring wheels N1, N2, and N3 do not detect rotation signals, but monitoring wheel N4 detects rotation signals, the submarine cable contact point A is located between N3 and N4, and a maximum tension warning message is issued; the controller can send an acceleration command to the cable laying machine until the contact point A returns to between N2 and N3;

[0023] (5) When the rotation sensor of monitoring wheel N4 does not detect a rotation signal, a maximum tension alarm message is issued.

[0024] This invention, by employing the above technical solutions, has the following advantages and positive effects compared to existing technologies: By pre-setting a formula for the horizontal distance L between the cable contact point A and the output end of the cable-laying vessel in the controller, and calculating the cable contact point distance Lopt under optimal cable tension, the position of the target tension monitoring wheel is determined, thereby determining the positions of the minimum tension warning wheel and the maximum tension warning wheel. Using the pre-determined maximum and minimum cable tensions, the minimum tension alarm wheel and the maximum tension alarm wheel are calculated using the formula. Then, the sensing submodule collects measurement data from the warning wheel and the target tension monitoring wheel, and the analysis submodule determines whether the cable is pressing on the warning wheel, identifies the area where contact point A is located, and controls the cable tension within a reasonable range, thereby improving the safety of cable laying construction. Furthermore, by fully considering the impact of external condition changes on the cable control tension during cable laying construction, the invention enables real-time matching of the cable control tension with construction parameters, improving the accuracy of cable tension deviation control. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of submarine cable parameters in one embodiment of the present invention;

[0026] Figure 2 This is a schematic diagram of the intelligent monitoring device for submarine cable tension on a cable-laying vessel according to an embodiment of the present invention.

[0027] Figure 3 This is a top view of the intelligent monitoring device for submarine cable tension in one embodiment of the present invention;

[0028] Figure 4 This is a schematic diagram of the monitoring wheel in one embodiment of the present invention.

[0029] The numbers in the diagram are as follows:

[0030] 1-Cable-laying vessel; 2-Deck; 3-Cable-laying machine; 4-Submarine cable; 5-Inlet bridge;

[0031] 10-orbit;

[0032] 20-Support wheel;

[0033] 30 - Warning wheel; 31 - Minimum tension alarm wheel; 32 - Minimum tension warning wheel; 33 - Maximum tension warning wheel; 34 - Maximum tension alarm wheel; 35 - Drive mechanism; 36 - Rotation sensor; 37 - Roller;

[0034] 40 - Target tension monitoring wheel;

[0035] 50 - Control Module. Detailed Implementation

[0036] The advantages and features of the present invention will become clearer in conjunction with the following description. It should be noted that the accompanying drawings are all in a very simplified form and use non-precise proportions, and are only used to facilitate and clarify the illustration of the embodiments of the present invention.

[0037] Example 1

[0038] like Figure 1 As shown, a cable-laying machine 3 is installed on deck 2 of the cable-laying vessel 1. The submarine cable 4 is output from the cable-laying machine 3, falls onto deck 2, and then suspends into the water after passing through the water inlet bridge 5. The horizontal distance from the outlet of the cable-laying machine 3 to the submarine cable contact point A is denoted as L. L changes synchronously with the tension of the submarine cable 4; when the cable tension increases, L also increases, and when the cable tension decreases, L also increases. The intelligent submarine cable tension monitoring device provided in this embodiment can monitor and adjust the position of the submarine cable contact point A, thereby ensuring that the submarine cable tension is within a suitable range.

[0039] Combination Figures 1 to 3 As shown, the intelligent submarine cable tension monitoring device provided in this embodiment includes a track 10, a support wheel 20, a warning wheel 30, a target tension monitoring wheel 40, and a control module 50.

[0040] Two rails 10 are set parallel to each other on the deck 2 of the cable-laying vessel along the direction of movement of the coastal cable 4. The rails are made of I-beams. The size of the rails and the spacing between the two rails are set as needed. The rails are mainly used to fix the support wheel 20 and to provide the necessary guidance and support for the movement of the warning wheel 30 and the target tension monitoring wheel 40.

[0041] The track 10 is horizontally spaced with four warning wheels 30, one target tension monitoring wheel 40, and several support wheels 20. Each warning wheel 30 is equipped with a rotation sensor 36. When the submarine cable 4 presses against the warning wheel, the movement of the cable causes the warning wheel to rotate, which is then detected by the rotation sensor 36. The four monitoring wheels, arranged from closest to furthest from the cable laying machine, are designated as minimum tension alarm wheel 31, minimum tension warning wheel 32, maximum tension warning wheel 33, and maximum tension alarm wheel 34, respectively, and are labeled N1, N2, N3, and N4. Their horizontal distances from the cable laying machine 3 are denoted as L1, L2, L3, and L4, respectively. The target tension monitoring wheel 40 is positioned between the minimum tension warning wheel 32 and the maximum tension warning wheel 33. Both the warning wheels 30 and the target tension monitoring wheel 40 include a drive mechanism 35, which can move and brake the warning wheels and target tension monitoring wheels. The support wheel 10 is set as needed. The support wheel is mainly used to provide support for the submarine cable. The support wheel may not be equipped with a drive mechanism or rotation sensor.

[0042] In one implementation, the target tension monitoring wheel 40 is equipped with an elastic device. Under the action of a spring, the wheel has a certain range of vertical movement. When the submarine cable presses on the target tension monitoring wheel 40, the spring of the elastic device is compressed. When the compression of the spring is within a preset range, it is determined that the submarine cable has touched the ground at the location of the target tension monitoring wheel 40. The initial position of the target tension monitoring wheel 40 is located at the theoretical contact point. When the compression of the spring is within the preset range, it is determined that the submarine cable has touched the ground at the theoretical contact point. If the spring is not compressed to the preset range, it is determined that the submarine cable has not touched the ground at the theoretical contact point, and the contact point is located to the left of the theoretical contact point. If the spring is compressed beyond the preset range, it is determined that the submarine cable has not touched the ground at the theoretical contact point, and the contact point is located to the right of the contact point. Furthermore, the contact point can be accurately determined by moving the target tension monitoring wheel 40 left and right. For example, when the contact point is to the left of the theoretical contact point, the drive mechanism 35 moves the target tension monitoring wheel to the left until the spring compression reaches a preset position; this position of the target tension monitoring wheel is then determined to be the contact point. When the contact point is to the right of the theoretical contact point, the drive mechanism 35 moves the target tension monitoring wheel to the right until the spring compression reaches a preset position; this position of the target tension monitoring wheel is then determined to be the contact point. The preset range of spring compression can be set as needed, and the maximum value of the preset range must be less than the spring compression when the submarine cable is fully pressed onto the target tension monitoring wheel.

[0043] In another implementation, a pressure gauge is installed on the target tension monitoring wheel. When the pressure exerted by the submarine cable on the pressure gauge reaches a set threshold range [F1, F2], it is determined that the submarine cable has touched the ground at the location of the target tension monitoring wheel 40. The initial position of the target tension monitoring wheel 40 is located at the theoretical contact point. If the pressure on the pressure gauge reaches the set threshold range [F1, F2], it is determined that the submarine cable has touched the ground at the theoretical contact point; if the pressure does not reach F1, it is determined that the submarine cable has not touched the ground at the theoretical contact point, and the contact point is located to the left of the theoretical contact point; if the pressure exceeds F2, it is determined that the submarine cable has not touched the ground at the theoretical contact point, and the contact point is located to the right of the contact point. Furthermore, when the contact point is to the left of the theoretical contact point, the drive mechanism 35 moves the target tension monitoring wheel to the left until the pressure on the pressure gauge reaches the set threshold range [F1, F2]. At this point, the target tension monitoring wheel is at the contact point. When the contact point is to the right of the theoretical contact point, the drive mechanism 35 moves the target tension monitoring wheel to the right until the pressure on the pressure gauge reaches the set threshold range [F1, F2]. At this point, the target tension monitoring wheel is at the contact point. The threshold range [F1, F2] can be set as needed, but the value of F2 must be less than the pressure experienced by the target tension monitoring wheel when the submarine cable is fully pressed against it.

[0044] The control module 50 includes a sensing submodule, an analysis submodule, and a control submodule. The sensing submodule senses external construction parameters, including collecting measurement data from the warning wheel and the target tension monitoring wheel. The analysis submodule calculates and analyzes the acquired construction parameters, determining whether the submarine cable is pressing on the warning wheel, whether a warning message is issued, the location of contact point A, whether the submarine cable is on the target tension monitoring wheel, and whether the cable is at the optimal construction tension. The control submodule adjusts the positions of the pre-alarm monitoring wheel and the target tension monitoring wheel based on the obtained contact point location, ensuring that the positions of each wheel correspond to the current construction parameters.

[0045] It should be noted that the positions of the warning wheel and the target tension monitoring wheel are not fixed, but determined by comprehensively considering parameters such as the cable specification D, water depth M, ship speed V, cable slewing speed ω, and common wave height Hs and ocean current speed C. Before laying a submarine cable, a cable laying model is established using cable laying analysis software, with the cable laying machine as the starting point. The model analyzes and calculates parameters such as different cable specifications D, water depth M, ship speed V, cable slewing speed ω, and common wave height Hs and ocean current speed C along the laying route to obtain the distance L of the cable contact point on the cable laying vessel's deck from the cable laying machine's exit point, as well as the cable tension F. The water entry guide plate is made of a low-friction coefficient material such as PTFE, and the friction between the cable and the water entry guide plate is negligible. Therefore, it can be approximated that the tension at the cable entry point is the same as the tension at the cable laying machine's exit point.

[0046] Based on the data obtained from finite element analysis, artificial intelligence methods were used to fit the formulas and derive the formulas relating the distance of the submarine cable to the contact point of the cable-laying vessel to various construction parameters.

[0047] L=f(D,M,V,ω,Hs,C,F)

[0048] The maximum tension F of the submarine cable max With minimum tension F min The cable's specifications are relevant; therefore, once the cable type is determined, its maximum and minimum tensions are also determined. During cable laying, the maximum tension occurs between the entry bridge and the cable-laying machine. Ignoring friction between the cable and the entry bridge, deck, and rollers, the tension between the entry bridge and the cable contact point can be considered the same and at its maximum. The minimum tension, L'min, is simulated based on the minimum bending radius of the cable touching the seabed. Therefore, the maximum and minimum contact point distances, Lmax and Lmin, can be determined during construction. The optimal construction tension, Fopt, can be determined based on various construction parameters, and the cable contact point distance, Lopt, under the optimal tension can be calculated. The positions of the warning wheels and target tension monitoring wheels are set according to construction needs. The values ​​of L2 and L3 are determined based on the cable contact point distance, Lopt. For example, moving the same distance to both sides of Lopt as the midpoint creates the positions of warning wheels N2 and N3. The positions of warning wheels N4 and N1 are determined based on the maximum and minimum contact point distances, Lmax and Lmin, thus determining the values ​​of L4 and L1.

[0049] This embodiment also provides a method for intelligent monitoring of submarine cable tension, which uses the aforementioned intelligent submarine cable tension monitoring device for monitoring, including:

[0050] Step 1: Determine the diameter D of the submarine cable, and use the sensing submodule of the controller to collect water depth M, ship speed V, cable turntable speed ω, common wave height Hs, and ocean current speed C;

[0051] Step 2: Determine the maximum tension Fmax of the submarine cable, calculate or simulate the minimum tension Fmin of the submarine cable at the entrance / exit bridge using finite element method, and substitute it into formula L to calculate the corresponding Lmax and Lmin respectively, thereby determining the values ​​of L4 and L1; determine the optimal tension of the submarine cable, substitute it into formula L to calculate Lopt, where Lopt is the horizontal distance between the contact point A under the optimal tension and the output end of the cable laying machine; determine the position of the target tension monitoring wheel based on Lopt, and determine the values ​​of L2 and L3;

[0052] Step 3: Install the intelligent submarine cable tension monitoring device on the deck of the cable-laying vessel, so that the positions of the four warning wheels correspond to L1, L2, L3, and L4, and the position of the target tension monitoring wheel corresponds to Lopt; the initial contact point of the submarine cable is located on the target tension monitoring wheel;

[0053] Step 4: During the submarine cable laying process, the controller collects measurement data from the warning wheel and the target tension monitoring wheel through the sensing submodule; the analysis submodule determines whether the submarine cable is pressing on the warning wheel, determines the range of the contact point A, determines whether the submarine cable falls on the target tension monitoring wheel, and determines whether the submarine cable is at the optimal construction tension; when the submarine cable contact point A exceeds the warning wheels N2 and N3, the control submodule sends a speed adjustment command to the cable laying machine, causing the cable laying machine to adjust the output speed of the submarine cable, so that the submarine cable contact point returns to between the warning wheels N2 and N3.

[0054] Specifically, the analysis submodule determines the interval where contact point A is located, as follows:

[0055] (1) When the rotation sensors of monitoring wheels N1 and N2 do not detect rotation signals, but monitoring wheels N3 and N4 detect rotation signals, the submarine cable contact point A is located between N2 and N3; no warning information is issued at this time; the target tension monitoring wheel determines whether the contact point is located at the optimal contact point. If the determination result is no, it determines whether the submarine cable contact point is located to the left or right of the optimal contact point; furthermore, if the submarine cable does not touch the ground at the theoretical contact point, the target tension monitoring wheel is moved by the drive mechanism. When the spring is deformed or the pressure of the pressure gauge is within the threshold range, the location of the target tension monitoring wheel can be regarded as the submarine cable contact point.

[0056] (2) When the rotation sensor of monitoring wheel N1 does not detect a rotation signal, but monitoring wheels N2, N3 and N4 detect a rotation signal, the submarine cable contact point A is located between N1 and N2, and a minimum tension warning message is issued; the controller can send a deceleration command to the cable laying machine until the contact point A returns to between N2 and N3;

[0057] (3) When the rotation sensor of the monitoring wheel N1 detects the rotation signal, it issues a minimum tension alarm message. This situation usually does not occur. If it does occur, construction can be stopped, the cause of the problem can be found, and the contact point A can be returned to between N2 and N3 before construction can continue.

[0058] (4) When the rotation sensors of monitoring wheels N1, N2, and N3 do not detect rotation signals, but monitoring wheel N4 detects rotation signals, the submarine cable contact point A is located between N3 and N4, and a maximum tension warning message is issued; the controller can send an acceleration command to the cable laying machine until the contact point A returns to between N2 and N3;

[0059] (5) When the rotation sensor of the monitoring wheel N4 does not detect a rotation signal, it will issue a maximum tension alarm message. This situation usually does not occur. If it does occur, construction can be stopped, the cause of the problem can be found, and the contact point A can be returned to between N2 and N3 before construction can continue.

[0060] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0061] The embodiments described above are merely illustrative of several implementations of the present invention, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of the invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these modifications and improvements all fall within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the appended claims.

Claims

1. A submarine cable tension intelligent monitoring device, characterized in that, Includes a track, support wheels, warning wheels, target tension monitoring wheels, and a control module; Two rails are set parallel to each other on the deck of the cable-laying vessel in the direction of the coastal cable's movement. They are used to fix the support wheels and provide the necessary guidance and support for the movement of the warning wheels and target tension monitoring wheels. The track is horizontally spaced with four warning wheels, one target tension monitoring wheel, and several support wheels. Each warning wheel is equipped with a rotation sensor to monitor whether it is rotating. The four monitoring wheels, arranged from closest to furthest from the cable laying machine's output end, are designated as minimum tension alarm wheel, minimum tension warning wheel, maximum tension warning wheel, and maximum tension alarm wheel, respectively, and are labeled N1, N2, N3, and N4. Their horizontal distances from the cable laying machine are denoted as L1, L2, L3, and L4, respectively. The target tension monitoring wheel is located between N2 and N3. Both the warning wheels and the target tension monitoring wheel include a drive mechanism that can move and brake them. The control module includes a sensing submodule, an analysis submodule, and a control submodule. The sensing submodule senses external construction parameters, including water depth M, ship speed V, cable turntable speed ω, common wave height Hs, and ocean current speed C. It also collects measurement data from the warning wheel and target tension monitoring wheel. The analysis submodule calculates and analyzes the acquired construction parameters. The horizontal distance between the cable contact point A and the output end of the cable-laying vessel is denoted as L. The analysis submodule has a pre-defined formula for calculating L: L = f(D, M, V, ω, Hs, C, F), where D is the cable diameter, a known value. The analysis submodule calculates the cable diameter based on a pre-determined maximum... The analysis submodule determines the values ​​of L4 and L1 based on the tension and minimum tension, and calculates the distance Lopt from the cable contact point based on the preset optimal tension of the submarine cable. The values ​​of L2 and L3 are then determined based on Lopt. The analysis submodule also determines whether the submarine cable is pressing on the warning wheel, identifies the area of ​​contact point A, determines whether the submarine cable is on the target tension monitoring wheel, and determines whether the submarine cable is at the optimal construction tension. The control submodule is used to control the drive mechanism to adjust the warning wheel and the target tension monitoring wheel to the corresponding positions based on the obtained values ​​of Lopt, L1, L2, L3, and L4. The control submodule is also used to send speed adjustment commands to the cable laying machine.

2. The intelligent monitoring device for submarine cable tension as described in claim 1, characterized in that, The target tension monitoring wheel is equipped with an elastic device. Under the action of the spring, the roller has a certain range of vertical movement. When the submarine cable presses on the target tension monitoring wheel, it will compress the spring of the elastic device. When the compression of the spring is within the preset range, it is determined that the submarine cable touches the ground at the location of the target tension monitoring wheel.

3. The intelligent monitoring device for submarine cable tension as described in claim 2, characterized in that, The initial position of the target tension monitoring wheel is at the theoretical contact point. When the spring compression is within the preset range, it is determined that the submarine cable is in contact with the ground at the theoretical contact point. If the spring is not compressed to the preset range, it is determined that the submarine cable is not in contact with the ground at the theoretical contact point, and the contact point is located to the left of the theoretical contact point. If the spring compression exceeds the preset range, it is determined that the submarine cable is not in contact with the ground at the theoretical contact point, and the contact point is located to the right of the contact point.

4. The intelligent monitoring device for submarine cable tension as described in claim 1, characterized in that, A pressure gauge is installed on the target tension monitoring wheel. When the pressure exerted by the submarine cable on the pressure gauge reaches the set threshold range [F1, F2], it is determined that the submarine cable has touched the ground at the location of the target tension monitoring wheel.

5. The intelligent monitoring device for submarine cable tension as described in claim 4, characterized in that, The initial position of the target tension monitoring wheel is located at the theoretical contact point. If the pressure on the pressure gauge reaches the set threshold range [F1, F2], it is determined that the submarine cable has touched the ground at the theoretical contact point; if the pressure does not reach F1, it is determined that the submarine cable has not touched the ground at the theoretical contact point, and the contact point is located to the left of the theoretical contact point. If the pressure exceeds F2, it is determined that the submarine cable did not touch the ground at the theoretical contact point, and the contact point is located to the right of the contact point.

6. A method for intelligent monitoring of submarine cable tension, characterized in that, Monitoring is performed using the intelligent submarine cable tension monitoring device as described in any one of claims 1 to 5, including: Step 1: Determine the diameter D of the submarine cable, and use the sensing submodule of the controller to collect water depth M, ship speed V, cable turntable speed ω, common wave height Hs, and ocean current speed C; Step 2: Determine the maximum tension Fmax of the submarine cable, calculate or simulate the minimum tension Fmin of the submarine cable at the entrance / exit bridge using finite element method, and substitute it into formula L to calculate the corresponding Lmax and Lmin respectively, thereby determining the values ​​of L4 and L1; determine the optimal tension of the submarine cable, substitute it into formula L to calculate Lopt, where Lopt is the horizontal distance between the contact point A under the optimal tension and the output end of the cable laying machine; determine the position of the target tension monitoring wheel based on Lopt, and determine the values ​​of L2 and L3; Step 3: Install the intelligent submarine cable tension monitoring device on the deck of the cable-laying vessel, so that the positions of the four warning wheels correspond to L1, L2, L3, and L4, and the position of the target tension monitoring wheel corresponds to Lopt; the initial contact point of the submarine cable is located on the target tension monitoring wheel; Step 4: During the submarine cable laying process, the controller collects measurement data from the warning wheel and the target tension monitoring wheel through the sensing submodule; the analysis submodule determines whether the submarine cable is pressing on the warning wheel, determines the range of the contact point A, determines whether the submarine cable falls on the target tension monitoring wheel, and determines whether the submarine cable is at the optimal construction tension; when the submarine cable contact point A exceeds the warning wheels N2 and N3, the control submodule sends a speed adjustment command to the cable laying machine, causing the cable laying machine to adjust the output speed of the submarine cable, so that the submarine cable contact point returns to between the warning wheels N2 and N3.

7. The intelligent monitoring method for submarine cable tension as described in claim 6, characterized in that, The analysis submodule determines the interval where touch point A is located, specifically as follows: (1) When the rotation sensors of monitoring wheels N1 and N2 do not detect rotation signals, but monitoring wheels N3 and N4 detect rotation signals, the submarine cable contact point A is located between N2 and N3; the target tension monitoring wheel determines whether the contact point is located at the optimal contact point. (2) When the rotation sensor of monitoring wheel N1 does not detect a rotation signal, but monitoring wheels N2, N3 and N4 detect a rotation signal, the submarine cable contact point A is located between N1 and N2, and a minimum tension warning message is issued; the controller can send a deceleration command to the cable laying machine until the contact point A returns to between N2 and N3; (3) When the rotation sensor of monitoring wheel N1 detects a rotation signal, it issues a minimum tension alarm message; (4) When the rotation sensors of monitoring wheels N1, N2, and N3 do not detect rotation signals, but monitoring wheel N4 detects rotation signals, the submarine cable contact point A is located between N3 and N4, and a maximum tension warning message is issued; the controller can send an acceleration command to the cable laying machine until the contact point A returns to between N2 and N3; (5) When the rotation sensor of monitoring wheel N4 does not detect a rotation signal, a maximum tension alarm message is issued.

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