A cable-laying mechanism and method integrated inside an AUV

Abstract

This invention provides a cable-laying mechanism and method integrated inside an AUV, belonging to the technical field of cable-laying mechanisms. The mechanism comprises: a cable-laying spool, a reciprocating screw device, a single-axis constant tension sensor, a cable outlet flare, and a controller, all installed entirely inside the pressure-resistant sealed cabin of the AUV. The cable-laying spool is used to wind and store the cable to be laid, and is driven to rotate by a drive motor. The reciprocating screw device is located on the cable outlet side of the cable-laying spool and is used to uniformly guide the cable axially. The single-axis constant tension sensor is located behind the reciprocating screw device and is used to detect the cable tension in real time. The cable outlet flare is installed at the stern of the AUV. The controller is installed inside the waterproof sealed cabin and is electrically connected to the drive motor, the reciprocating screw device, and the single-axis constant tension sensor. This invention enables the AUV to independently lay cables deep under ice, eliminating reliance on large surface support platforms and icebreakers, and significantly reducing the cost and risk of polar operations.

Description

Technical Field

[0001] This invention belongs to the field of cable laying mechanism technology, specifically relating to a cable laying mechanism and method integrated inside an AUV. Background Technology

[0002] With the advancement of Arctic shipping route development, the need for deploying cable networks for communication and monitoring in harsh environments such as under polar ice is becoming increasingly urgent. Traditional underwater cable laying mainly relies on large dedicated cable-laying vessels or remotely operated underwater vehicles (ROVs) supported by surface mother ships. These solutions have significant drawbacks: large cable-laying vessels are enormous, have deep drafts, and experience high water resistance, resulting in extremely high costs for each voyage due to fuel consumption and personnel costs. Furthermore, they require expensive icebreaker escorts in dense ice areas, making operation almost impossible. ROVs, on the other hand, are limited by the length of the umbilical cable and the support of the mother ship, limiting their operational range. They also heavily rely on surface support platforms, making it difficult to access ice-covered areas. In addition, traditional equipment has a complex structure, is difficult to maintain, and has poor environmental adaptability, making it difficult to meet the needs of routine, low-cost operations in the polar regions.

[0003] In recent years, autonomous underwater vehicles (AUVs) have been regarded as an important platform for future underwater operations due to their autonomy and flexibility. However, existing general-purpose AUVs lack dedicated cable-laying capabilities, and external cable-laying equipment severely disrupts the streamlined shape of the AUV, significantly increasing drag and energy consumption, and reducing its maneuverability and stability. Furthermore, current technologies struggle to achieve precise, constant-tension cable laying and lack rapid reloading capabilities, making it impossible to support clustered, continuous operations. Summary of the Invention

[0004] The purpose of this invention is to overcome the above-mentioned technical problems by proposing a cable laying mechanism and method integrated inside an AUV.

[0005] The objective of this invention is achieved through the following technical solution:

[0006] A cable laying mechanism integrated inside an AUV is provided. The mechanism is installed entirely inside the pressure-resistant sealed cabin of the AUV and includes: a cable laying spool, a reciprocating screw device, a single-axis constant tension sensor, a cable outlet flare, and a controller. The cable laying spool is used to wind and store the cable to be laid and is driven to rotate by a drive motor.

[0007] The reciprocating screw device is located on the cable outlet side of the cable laying spool and is used to uniformly guide the cable out along the axial direction.

[0008] The single-axis constant tension sensor is located behind the reciprocating lead screw device and is used to detect cable tension in real time.

[0009] The cable outlet horn is installed at the tail of the AUV to smoothly guide the cable out of the cabin.

[0010] The controller is installed inside a waterproof sealed chamber and is electrically connected to the drive motor, the reciprocating lead screw device, and the single-axis constant tension sensor.

[0011] Furthermore, the reciprocating lead screw device includes a slider, which is slidably mounted on a guide rod. The slider engages with the screw thread, and the screw is connected to a stepper motor via a sprocket. A guide rod is fixed on the slider and reciprocates linearly along the screw axis with the slider.

[0012] Furthermore, the guide rod includes a cable guide ring through which the cable passes.

[0013] Furthermore, the uniaxial constant tension sensor is mounted on a fixed bracket inside the pressure-resistant sealed chamber of the AUV via a flange base.

[0014] Furthermore, the uniaxial constant tension sensor includes a measuring wheel and an adjustment mechanism. The surface of the measuring wheel has a U-shaped groove through which the cable passes. The adjustment mechanism is located at the axle of the measuring wheel and is used to adjust the initial clamping force or relative position of the measuring wheel on the cable.

[0015] Furthermore, the uniaxial constant tension sensor is equipped with a strain gauge, which detects the cable tension acting on the measuring wheel in real time and converts it into an electrical signal, which is then fed back to the controller.

[0016] Furthermore, the inner cavity of the outlet horn is a streamlined curved surface, and its outlet direction is consistent with the AUV axis.

[0017] A cable laying method, using the above-mentioned cable laying mechanism, includes the following steps:

[0018] Step 1: The AUV navigates to the cable laying starting point, and the controller controls the drive motor to drive the cable laying spool to rotate, thus starting the cable release;

[0019] Step 2: The controller starts the reciprocating screw device, causing the cable guide ring of the guide rod to reciprocate linearly along the screw axis, so as to evenly guide the cable from the laying spool.

[0020] Step 3: The cable passes through a single-axis constant tension sensor, which detects the cable tension in real time and feeds it back to the controller;

[0021] Step 4: The controller compares the feedback tension value with the preset tension value and dynamically adjusts the output torque of the drive motor to keep the laying tension within the set range;

[0022] Step 5: The cable is smoothly led out of the AUV cabin through the cable outlet and laid along the predetermined path.

[0023] Furthermore, in step 2, the controller controls the stepper motor to drive the lead screw to rotate via the sprocket, and the slider drives the guide rod and the cable guide ring to move back and forth. The controller coordinates and controls the moving speed of the cable guide ring to match the laying speed of the laying spool.

[0024] Furthermore, in step 3, the cable is placed in the U-shaped groove of the measuring wheel, and the initial clamping force is preset by the adjustment mechanism. The cable tension causes the measuring wheel to be under force, and the strain gauge converts the force value into an electrical signal and outputs it to the controller.

[0025] The beneficial effects of this invention are as follows:

[0026] This invention deeply integrates cable laying functionality into the AUV, maintaining the AUV's excellent streamlined shape and low drag characteristics, enabling it to still possess high maneuverability and long range capability when carrying cables.

[0027] This invention achieves modularity, high reliability, and precision in cable laying operations through a quick-change spool design and constant tension closed-loop control. It supports unmanned autonomous operation and rapid heavy-load operation, allows for quick spool replacement, enables AUVs to return and set sail again in a short time, supports clustered and continuous operation, and eliminates dependence on large surface support platforms.

[0028] This invention enables AUVs to independently and deeply lay cables under ice, eliminating reliance on large surface support platforms and icebreakers, significantly reducing the cost and risk of polar operations, and laying the core equipment foundation for the collaborative deployment and networking of AUV clusters.

[0029] This invention achieves uniform cable arrangement and constant tension laying through closed-loop control of a reciprocating screw device, a constant tension sensor, and a controller, avoiding the risks of cable overlap, slippage, or breakage. Attached Figure Description

[0030] Appendix Figure 1 This is a schematic diagram of the structure of the present invention;

[0031] Appendix Figure 2 This is a schematic diagram of the reciprocating lead screw device of the present invention;

[0032] Appendix Figure 3 This is a schematic diagram of the structure of the uniaxial constant tension sensor of the present invention;

[0033] Appendix Figure 4 This is an external view of the AUV of the present invention.

[0034] In the attached diagram: 1. Underwater searchlight; 2. Waterproof sealed chamber; 3. Deployment spool; 4. Reciprocating screw device; 5. Single-axis constant tension sensor; 6. Cable outlet flare; 7. Chamber base; 8. Sprocket; 9. Screw; 10. Guide rod; 11. Slider; 12. Guide rod; 13. Threaded adjustment structure; 14. Flange base; 15. Adjustment mechanism; 16. Measuring wheel. Detailed Implementation

[0035] The present invention will now be further described with reference to the accompanying drawings.

[0036] Example 1:

[0037] This invention provides a cable-laying mechanism integrated inside an AUV. This mechanism is integrally installed inside the pressure-resistant, sealed cabin of the AUV, as shown in the attached figure. Figure 1 As shown, it includes: a cable laying spool 3, a reciprocating screw device 4, a single-axis constant tension sensor 5, a cable outlet horn 6, and a controller. The cable laying spool 3 is used to wind and store the cable to be laid, and it is driven to rotate by a drive motor.

[0038] The reciprocating screw device 4 is located on the cable outlet side of the cable laying spool and is used to uniformly guide the cable out along the axial direction.

[0039] The single-axis constant tension sensor 5 is located behind the reciprocating lead screw device and is used to detect cable tension in real time.

[0040] The cable outlet 6 is installed at the tail of the AUV to smoothly guide the cable out of the cabin.

[0041] The controller is installed inside the waterproof sealed chamber 2 and is electrically connected to the drive motor, the reciprocating screw device 4, and the single-axis constant tension sensor 5. The controller receives the real-time tension signal fed back by the single-axis constant tension sensor, compares it with the preset tension value, and dynamically adjusts the output torque of the drive motor to keep the laying tension within the set range.

[0042] During operation, the AUV autonomously navigates to the cable laying starting point. The controller issues a command to drive the drive motor to rotate the cable laying spool 3 and release the cable. At the same time, the reciprocating screw device 4 is activated, and the stepper motor drives the screw 9 to rotate through the sprocket 8. The slider 11 moves along the screw axis, and through the guide rod 10, it drives the guide rod 12 and the cable guide ring to reciprocate, evenly guiding the cable from the spool 3 to the rear.

[0043] The cable then enters the uniaxial constant tension sensor 5. The cable is placed in the U-shaped groove of the measuring wheel 16, and the initial clamping force is preset by the adjusting mechanism 15. During cable laying, the cable tension causes the measuring wheel 16 to be under force, and the strain gauge outputs an electrical signal to the controller. The controller compares this signal with the preset tension value and adjusts the torque of the drive motor in real time to keep the tension constant.

[0044] Finally, the cable is smoothly led out of the AUV tail through the outlet 6 and laid along the predetermined path.

[0045] When the cable on spool 3 is used up and the AUV returns, open the tail quick-opening cover, loosen the plug-in spool holder, remove the empty spool and load the full spool, and you can perform the task again.

[0046] As attached Figure 2 As shown, the reciprocating lead screw device includes a slider 11, which is slidably mounted on a guide rod 10. The slider 11 is threadedly engaged with the lead screw 9. The lead screw 9 is connected to a stepper motor through a sprocket 8 at one end. A guide rod 12 is fixed on the slider 11 and moves reciprocally in a linear motion along the axis of the lead screw 9 with the slider 11.

[0047] The other end of the lead screw 9 is connected to the threaded adjustment structure 13, which is used to finely adjust the initial lateral position of the cable guide ring during equipment installation or maintenance.

[0048] The conductor rod 12 includes a cable guide ring through which the cable passes.

[0049] The inner cavity of the outlet horn 6 is a streamlined curved surface, and its outlet direction is consistent with the AUV axis.

[0050] As attached Figure 3 As shown, the uniaxial constant tension sensor 5 is mounted on a fixed bracket inside the pressure-resistant sealed chamber of the AUV via a flange base 14. The uniaxial constant tension sensor 5 includes a measuring wheel 16 and an adjustment mechanism 15. The measuring wheel 16 has a U-shaped groove on its surface, through which the cable passes. The adjustment mechanism 15 is located at the axle of the measuring wheel 16 and is used to adjust the initial clamping force or relative position of the measuring wheel 16 on the cable.

[0051] The uniaxial constant tension sensor 5 is equipped with a strain gauge. The strain gauge detects the cable tension acting on the measuring wheel 16 in real time and converts it into an electrical signal, which is then fed back to the controller.

[0052] Example 2:

[0053] According to the deployment mechanism described in Embodiment 1, such as Figure 1As shown, during operation, the AUV autonomously navigates to the cable laying starting point. The control system inside the cabin issues a command to drive the replaceable spool 3 to rotate and release the cable. Simultaneously, the reciprocating screw device 4 is activated. The control system located in the waterproof sealed chamber 2 drives the stepper motor, whose output shaft drives the sprocket 8, which in turn drives the screw 9 to rotate via chain transmission. Because the nut inside the slider 11 engages with the thread of the screw 9, the rotational motion of the screw is converted into linear motion of the slider 11 along the screw axis. The slider 11, through the guide rod 10, drives the guide rod 12 below it and the cable guide ring mounted on it to reciprocate, guiding the cable unwound from the spool 3 evenly and neatly to the next stage, effectively preventing overlap, knots, or jamming. The threaded adjustment structure 13 can be used for fine-tuning the initial lateral position of the cable guide ring during equipment installation or maintenance.

[0054] The guided cable enters the monoaxial constant tension sensor 5. This sensor is securely mounted on a fixed bracket inside the AUV functional compartment via mounting holes on its flange base 14. The cable enters the U-shaped groove of the sensor's measuring wheel 16. Initially, the position or preload of the measuring wheel 16 can be fine-tuned using the hexagonal nut on the adjusting mechanism 15 to ensure accurate sensing of cable tension for different specifications. During cable laying, the cable tension acts on the sensor's measuring wheel 16 in real time. The strain gauge inside the sensor detects this force and converts it into an electrical signal, which is fed back to the main controller located inside the waterproof sealed chamber 2. The controller compares this signal with a preset tension value and dynamically adjusts the output torque of the drive motor of the spool 3 using a closed-loop algorithm to ensure constant laying tension.

[0055] Finally, the cable, with precise tension control, is smoothly exited from the AUV through the streamlined cable outlet 6 at the stern and laid along the predetermined path. A camera inside the waterproof, sealed cabin 2 at the bow assists in monitoring the exit status, while an underwater searchlight 1 provides illumination in low visibility conditions. Throughout the entire process, all cable-laying actions are completed autonomously by the AUV without surface intervention. Once the cable on the cable-laying spool 3 is laid, the AUV can return to base and quickly replace the fully loaded spool by opening the stern hatch, allowing it to resume its mission, achieving cyclical and efficient operations. This integrated design ensures the integration of complex functions within a confined space while maintaining the original high performance of the AUV platform, making it particularly suitable for long-distance cable-laying missions under polar ice requiring high autonomy, high reliability, and strong environmental adaptability.

[0056] In this embodiment, the controller receives the real-time tension signal fed back by the single-axis constant tension sensor, compares it with the preset tension value, and dynamically adjusts the output torque of the drive motor through a PID algorithm to keep the laying tension always within the set range.

[0057] The deployment spool and the AUV cabin are connected by a quick-release structure, such as a plug-in spool seat with a quick-opening end cover, to enable quick spool replacement.

[0058] 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 cable-laying mechanism integrated inside an AUV, the mechanism being integrally installed inside the pressure-resistant sealed cabin of the AUV, characterized in that, include: The cable laying spool (3), reciprocating screw device (4), single-axis constant tension sensor (5), cable outlet horn (6), and controller are used to wind and store the cable to be laid, and are driven to rotate by a drive motor. The reciprocating screw device (4) is located on the outlet side of the cable laying spool and is used to uniformly guide the cable out along the axial direction. The single-axis constant tension sensor (5) is located behind the reciprocating screw device and is used to detect cable tension in real time. The cable outlet (6) is installed at the tail of the AUV to smoothly guide the cable out of the cabin. The controller is installed inside the waterproof sealed chamber (2) and is electrically connected to the drive motor, the reciprocating screw device (4), and the single-axis constant tension sensor (5).

2. The cable-laying mechanism integrated inside the AUV according to claim 1, characterized in that, The reciprocating lead screw device includes a slider (11), which is slidably mounted on a guide rod (10). The slider (11) is threadedly engaged with the lead screw (9). The lead screw (9) is connected to a stepper motor via a sprocket (8). A guide rod (12) is fixed on the slider (11) and moves reciprocally along the axis of the lead screw (9) with the slider (11).

3. The cable-laying mechanism integrated inside the AUV according to claim 2, characterized in that, The conductor rod (12) includes a cable guide ring through which the cable passes.

4. The cable-laying mechanism integrated inside the AUV according to claim 1, characterized in that, The uniaxial constant tension sensor (5) is mounted on a fixed bracket inside the pressure-resistant sealed chamber of the AUV via a flange base (14).

5. The cable-laying mechanism integrated inside the AUV according to claim 1, characterized in that, The single-axis constant tension sensor (5) includes a measuring wheel (16) and an adjustment mechanism (15). The measuring wheel (16) has a U-shaped groove on its surface, through which the cable passes. The adjustment mechanism (15) is located at the axle of the measuring wheel (16) and is used to adjust the initial clamping force or relative position of the measuring wheel (16) on the cable.

6. The cable-laying mechanism integrated inside the AUV according to claim 1, characterized in that, The uniaxial constant tension sensor (5) is equipped with a strain gauge. The strain gauge detects the cable tension acting on the measuring wheel (16) in real time and converts it into an electrical signal, which is then fed back to the controller.

7. The cable-laying mechanism integrated inside the AUV according to claim 1, characterized in that, The inner cavity of the outlet horn (6) is a streamlined curved surface, and its outlet direction is consistent with the AUV axis.

8. A cable laying method, characterized in that, The cable laying mechanism according to any one of claims 1-7, the method comprising the following steps: Step 1: The AUV navigates to the cable laying starting point, and the controller controls the drive motor to drive the cable laying spool (3) to rotate, and the cable is released. Step 2: The controller controls the reciprocating screw device (4) to start, so that the cable guide ring of the conductor rod (12) moves in a reciprocating linear motion along the screw axis, and the cable is evenly discharged from the laying spool (3); Step 3: The cable passes through a single-axis constant tension sensor (5), which detects the cable tension in real time and feeds it back to the controller; Step 4: The controller compares the feedback tension value with the preset tension value and dynamically adjusts the output torque of the drive motor to keep the laying tension within the set range; Step 5: The cable is smoothly led out of the AUV cabin through the cable outlet (6) and laid along the predetermined path.

9. The cable laying method according to claim 8, characterized in that, In step 2, the controller controls the stepper motor to drive the lead screw (9) to rotate through the sprocket (8), and the slider (11) drives the guide rod (12) and the cable guide ring to move back and forth. The controller coordinates and controls the moving speed of the cable guide ring to match the laying speed of the laying spool.

10. The cable laying method according to claim 8, characterized in that, In step 3, the cable is placed in the U-shaped groove of the measuring wheel (16). The initial clamping force is preset by the adjustment mechanism (15). The cable tension causes the measuring wheel (16) to be under force. The strain gauge converts the force value into an electrical signal and outputs it to the controller.

Images