Cable suitable for underwater robot and power system

Abstract

The utility model relates to a cable suitable for an underwater robot and an electric power system. The cable suitable for the underwater robot comprises a signal line, an optical fiber line, a plurality of first power lines, a plurality of second power lines, a first protection layer and a second protection layer. The first protection layer wraps the signal line, the optical fiber line and the first power line; the second power lines are arranged around the first protection layer, and the second protection layer wraps the outer layers of the second power lines. The signal line can transmit an electric signal, and an instruction output by the ship reaches the underwater robot through the signal line. The optical fiber cable is mainly used for transmitting signals back and forth. And the second power line is arranged on the outer side of the first protective layer, is a high-voltage line, and is mainly used for supplying power to high-power equipment (such as a propeller and an advancing mechanism). By implementing the cable suitable for the underwater robot, the purpose of simultaneously supplying energy and communicating for the underwater robot in the deep sea can be achieved.

Description

Technical Field

[0001] This utility model relates to the field of robotics, and in particular to a cable and power system suitable for underwater robots. Background Technology

[0002] An underwater robot is a type of robot that operates underwater. In various underwater environments, underwater robots can be used for geological exploration, underwater search for shipwrecks, assisting in cable laying, and underwater archaeological research, among other things. Current technology primarily involves using a winch on a ship to deploy and retrieve cables, which are then connected to the underwater robot to provide it with remote power. Current underwater robot cables typically only provide power and do not support communication. At deeper seabeds, such as below 1,000 meters, wireless communication is impossible, making it impossible to monitor the underwater robot's real-time status. Utility Model Content

[0003] This invention provides a cable power system suitable for underwater robots, which enables simultaneous power supply and communication for underwater robots in the deep sea.

[0004] In the first aspect, this utility model proposes a cable suitable for underwater robots, including a signal line, an optical fiber line, a plurality of first power lines, a plurality of second power lines, a first protective layer, and a second protective layer.

[0005] The first protective layer encloses the signal line, the optical fiber, and the first power line; the second power line is arranged around the first protective layer, and the second protective layer covers the outer layer of a plurality of the second power lines.

[0006] According to one embodiment of the present invention, the number of the second power lines is six.

[0007] According to one embodiment of the present invention, the number of the first power lines is two.

[0008] According to one embodiment of the present invention, a reinforcing layer is further included, which is sleeved on the second protective layer, and the reinforcing layer is made of steel.

[0009] According to one embodiment of the present invention, the reinforcing layer comprises a steel strip.

[0010] According to one embodiment of the present invention, the reinforcing layer includes a first steel wire layer, which is formed by stranding multiple steel wires into the second protective layer.

[0011] According to one embodiment of the present invention, the reinforcing layer further includes a second steel wire layer, which is formed by stranding multiple steel wires into the first steel wire layer.

[0012] Secondly, this utility model provides a power system, including a shipboard power supply, a power distribution module, a wiring module, a transformer module, a motor, and any of the cables described in the first aspect. The shipboard power supply, the power distribution module, the cable, and the wiring module are electrically connected in sequence, and the wiring module is electrically connected to the motor and the transformer module respectively.

[0013] According to one embodiment of the present invention, it further includes an optoelectronic slip ring and a winch, wherein the optoelectronic slip ring and the winch are disposed close to the power distribution module and are used for winding and unwinding the cable.

[0014] According to one embodiment of the present invention, the power distribution module further includes a shunt voltage regulator and a frequency converter. The shunt voltage regulator shunts the ship's electricity and stabilizes the voltage, and the frequency converter is used to control the frequency of the current.

[0015] Implementing the embodiments of this utility model has the following beneficial effects:

[0016] The cable used in this embodiment for underwater robots has a first protective layer that encases the signal line, optical fiber, and first power line. The first power line, primarily a secondary high-voltage wire, is mainly used to power low-power devices (such as cameras, servo valves, control boards, etc.). The signal line transmits electrical signals; commands from the ship reach the underwater robot via the signal line. The optical fiber is mainly used to transmit signals back, such as video signals, temperature signals, and pressure signals. The second power line is located outside the first protective layer. This second power line is also a high-voltage wire, primarily used to power high-power devices (such as thrusters, propulsion mechanisms, etc.). Implementing this cable for underwater robots enables simultaneous power supply and communication for the underwater robot in deep water.

[0017] Using the power system of this embodiment, the ship's power supply is used to generate electricity, which is then supplied to the power distribution module. The power module transmits the electricity from the ship to the wiring module on the underwater drone via cables. The wiring module is electrically connected to the motor and the transformer, respectively. The motor can directly drive modules such as the thruster, while the transformer is generally used to reduce the voltage to adapt to other components of the underwater robot. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] in:

[0020] Figure 1This is a schematic cross-sectional view of a cable suitable for an underwater robot in one embodiment of this utility model;

[0021] Figure 2 This is a cross-sectional schematic diagram of a cable suitable for an underwater robot in another embodiment of this utility model;

[0022] Figure 3 This is a schematic diagram of the power system in one embodiment of this utility model.

[0023] Figure label:

[0024] Signal line-10; Fiber optic line-20; First power line-30; Second power line-40; First protective layer-50; Second protective layer-60; First ground wire-70; Second ground wire-80; Reinforcing layer-90; Steel strip-910; First steel wire layer-920; Second steel wire layer-930; Marine electrical system-1; Power distribution module-2; Wiring module-3; Transformer module-4; Cable-5; Optical slip ring-6; Winch-7; Shunt voltage regulator-21; Frequency converter-22; Motor-8. Detailed Implementation

[0025] To make the objectives, technical solutions, and advantages of this utility model clearer, the technical solutions of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

[0026] In one aspect, this utility model embodiment provides a cable suitable for underwater robots, please refer to... Figure 1 and Figure 2 It includes a signal line 10, an optical fiber line 20, a plurality of first power lines 30, a plurality of second power lines 40, a first protective layer 50, and a second protective layer 60.

[0027] The first protective layer 50 encloses the signal line 10, the optical fiber line 20, and the first power line 30; the second power line 40 is arranged around the first protective layer 50, and the second protective layer 60 covers the outer layer of several second power lines 40.

[0028] Using the cable suitable for underwater robots in this embodiment, the first protective layer 50 encloses the signal line 10, the optical fiber optic cable, and the first power line 30. The first power line 30 is mainly a secondary high-voltage wire, primarily used to power low-power devices (such as cameras, servo valves, control boards, etc.). The signal line 10 transmits electrical signals; commands output from the ship reach the underwater robot via the signal line 10. The optical fiber optic cable 20 is mainly used to transmit signals back, such as video signals, temperature signals, and pressure signals. The second power line 40 is located outside the first protective layer 50. The second power line 40 consists entirely of high-voltage wires, primarily used to power high-power devices (such as thrusters, propulsion mechanisms, etc.). Implementing the cable suitable for underwater robots in this invention enables simultaneous power supply and communication for underwater robots in the deep sea.

[0029] It should be noted that the number of the first power line 30 and the second power line 40 is at least even, thus forming a complete circuit. The first power line 30 typically carries several thousand volts of high-voltage electricity, while the second power line 40 typically carries tens of kilovolts. The underwater robot is equipped with a transformer, which converts the high-voltage electricity into a suitable voltage to power the equipment.

[0030] Signal lines 10 typically exist in the form of signal pairs. A signal pair is a cable structure in which two insulated wires are twisted together. This structure is very common in the electronics and communications fields, especially in data transmission and telecommunications networks. The main functions of a signal pair include:

[0031] To reduce electromagnetic interference (EMI), two wires can be twisted together, which reduces the influence of external electromagnetic fields on signals and also reduces the interference of electromagnetic fields generated by the wire pair itself on the outside world.

[0032] Twisting the two wires in a wire pair together can reduce signal attenuation and distortion, thereby improving signal transmission quality.

[0033] Balanced transmission, signal pairs are typically used for balanced transmission, which means that the signal is transmitted relative to each other between two conductors, helping to resist external noise;

[0034] The flexibility of the wire-pair structure makes the cable more flexible, facilitating wiring and installation.

[0035] Cost-effective, wire-pair cables are less expensive and easier to manufacture and install compared to other types of cables (such as coaxial cables);

[0036] Compatibility: Wire-pair cables are widely used in various communication standards, such as Ethernet and POTS, and have good compatibility.

[0037] Easy to maintain and replace; due to the simple wire pair structure, maintaining and replacing wire pair cables is relatively easy.

[0038] Supports multiple communication protocols; the wire-to-wire cable can support multiple communication protocols, including but not limited to RS-232, RS-485, USB, HDMI, etc.

[0039] Highly adaptable, wire-pair cables can be designed in different lengths and specifications to suit different application scenarios;

[0040] To reduce crosstalk, the twisted structure of the wire pairs helps reduce crosstalk between different wire pairs when multiple pairs of cables are laid in parallel.

[0041] In one embodiment, a first ground wire 70 is also included, which is disposed within the first protective layer 50.

[0042] Grounding wires help protect equipment such as transformers and generators from damage caused by overvoltage or lightning strikes. They also prevent leakage current from underwater robots that could disrupt underwater operations.

[0043] In one embodiment, a second ground wire 80 is also included, which is disposed between the first protective layer 50 and the second protective layer 60.

[0044] The second ground wire 80 is for the second power line 40, and its main purpose is to guide the excess current of the second power line 40 into the ship and release it.

[0045] In one embodiment, the number of second power lines 40 is six.

[0046] For underwater robots, thrusters and other equipment require significant propulsion. Therefore, three-phase electricity is generally used, with six secondary power lines (40) forming a three-phase system. Three-phase systems transmit power more efficiently because they allow the load to be distributed more evenly across the three phases, reducing power loss during transmission. Three-phase systems also provide more stable voltage because they reduce voltage fluctuations caused by load imbalances.

[0047] In one embodiment, the number of first power lines 30 is two.

[0048] For low-voltage equipment, only one electrical circuit needs to be formed. Since the voltage of the first power line 30 is relatively low, its diameter is also relatively small. However, the second power line 40 needs to carry higher voltage, so a thicker wire is required. By placing the first power line 30 inside the first protective layer 50 and the second power line 40 looping between the first protective layer 50 and the second protective layer 60, the overall diameter of the cable suitable for underwater robots in this invention can be kept as small as possible, and the gaps between the various lines are also minimized.

[0049] In one embodiment, a reinforcing layer 90 is further included, which is fitted onto the second protective layer 60, and the reinforcing layer 90 is made of steel.

[0050] Since the underwater robot may be kilometers away from the ship, a reinforcing layer 90 is required. The first protective layer 50 and the second protective layer 60 mainly serve as insulation, while the reinforcing layer 90 is used to increase the strength of the cable and prevent it from being pulled and broken.

[0051] Generally, seawater has a high salinity, which makes it easier for steel materials to corrode. Therefore, aluminum alloy core steel wire is usually used. Compared with traditional galvanized steel wire, aluminum alloy core steel wire has better ductility and flexibility, and can provide better salt spray resistance, reducing the corrosion rate.

[0052] In one embodiment, the reinforcing layer 90 includes a steel strip 910.

[0053] In this embodiment, the steel strip 910 is generally armored. In the cable industry, "armored" refers to adding a metal protective layer to the outside of the cable. This metal protective layer can be steel strip 910, steel wire, etc., and its main function is to provide additional mechanical protection and electromagnetic shielding. Armored cables have one or more layers of metal armor to protect the internal wires from external pressure, tensile strength, and fire resistance, while also protecting the cable from corrosion. Armored cable model numbers include numbers indicating the armor type; for example, "22" indicates double steel strip 910 armor, "32" indicates fine round steel wire armor, and "42" indicates coarse round steel wire armor. This metal armor layer not only enhances the cable's tensile and compressive strength, extending its service life, but also improves the cable's anti-interference performance. Therefore, "armored" in the cable industry means that the cable has an additional metal protective layer to adapt to various harsh environments and special application scenarios.

[0054] In one embodiment, the reinforcing layer 90 includes a first wire layer 920, which is formed by stranding multiple wires together in the second protective layer 60.

[0055] In this embodiment, multiple steel wires are twisted into a first steel wire layer 920. Compared to armored cables, the cable formed in this way retains the flexibility of a cable.

[0056] In one embodiment, the reinforcing layer 90 further includes a second wire layer 930, which is formed by stranding multiple wires together with the first wire layer 920.

[0057] The second steel wire layer 930 is provided to further enhance strength and prevent wear during cable laying. Generally, the first steel wire layer 920 is closer to the center of the cable than the second steel wire layer 930.

[0058] In one embodiment, a filler layer is also provided, which is a waterproof adhesive used to fill the gaps in the first protective layer 50 and the second protective layer 60.

[0059] The filler layer is mainly used to fill the gaps in all the wiring, thereby fixing the wiring relatively securely. Furthermore, the filler layer also provides a waterproofing effect, preventing water from entering the cables due to high voltage in deep water.

[0060] It should be noted that the signal line 10, optical fiber line 20, first power line 30, and second power line 40 in this invention all have an insulating layer. These insulating layers, the first protective layer 50, and the second protective layer 60 are made of modified polypropylene. This is mainly because the second power line 40 generates heat due to its own resistance during power transmission. Its operating temperature is between 90℃ and 110℃. The dielectric strength of modified polypropylene is not less than 40kV / mm, which is superior to that of cross-linked polyethylene 25 polypropylene. Its excellent voltage resistance allows for maximum optimization of insulation strength to meet the requirements of a smaller finished product radius. Furthermore, this material is easy to process, and the extrusion process is highly mature.

[0061] Secondly, this utility model provides a power system, please refer to... Figure 3 It includes a ship electrical system 1, a power distribution module 2, a wiring module 3, a transformer module 4, a motor 8, and a cable 5 as described in the first aspect. The ship electrical system 1, the power distribution module 2, the cable 5, and the wiring module 3 are electrically connected in sequence. The wiring module 3 is electrically connected to the motor 8 and the transformer module 4 respectively.

[0062] Using the power system of this embodiment, the ship's power supply 1 is used to generate electricity, which is then supplied to the power distribution module 2. The electricity is transmitted from the ship to the wiring module 3 on the underwater drone via cable 5. The wiring module 3 is electrically connected to the motor 8 and the transformer module 4, respectively. The motor 8 can directly drive modules such as the thruster, while the transformer module 4 is generally used to reduce the voltage to adapt to other components of the underwater robot.

[0063] In one embodiment, the system also includes an optoelectronic slip ring 6 and a winch 7, which are located near the power distribution module 2 and are used for winding and unwinding the cable 5.

[0064] The photoelectric slip ring 6 is a device capable of transmitting electrical energy, electrical signals, optical energy, and optical signals between relatively rotating components, ensuring the normal transmission of energy or signals in rotating connections. The photoelectric slip ring 6 can transmit not only electrical power but also optical and electrical signals. The winch 7 is used for retrieving and releasing the cable in the first aspect.

[0065] In one embodiment, the power distribution module 2 further includes a shunt voltage regulator 21 and a frequency converter 22. The shunt voltage regulator 21 shunts the ship's electricity 1 and stabilizes the voltage, while the frequency converter 22 is used to control the frequency of the current.

[0066] The shunt regulator 21 primarily shunts the current and stabilizes the voltage. The frequency converter 22 is used to control the frequency of the current, ensuring that the current reaches the required frequency.

[0067] In the description of the embodiments of this utility model, it should be noted that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of this utility model. In addition, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0068] In the description of the embodiments of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of this utility model based on the specific circumstances.

[0069] In this embodiment of the utility model, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0070] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0071] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model, and not to limit it. Although this utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this utility model.

Claims

1. A cable suitable for underwater robots, characterized in that, It includes signal lines, fiber optic lines, several first power lines, several second power lines, a first protective layer, and a second protective layer; The first protective layer encloses the signal line, the optical fiber, and the first power line; the second power line is arranged around the first protective layer, and the second protective layer covers the outer layer of a plurality of the second power lines.

2. The cable for underwater robots as described in claim 1, characterized in that, It also includes a first ground wire, which is disposed within the first protective layer.

3. The cable suitable for underwater robots as described in claim 2, characterized in that, It also includes a second ground wire, which is disposed between the first protective layer and the second protective layer.

4. The cable for underwater robots as described in claim 1, characterized in that, It also includes a reinforcing layer, which is fitted over the second protective layer and is made of steel.

5. A cable suitable for underwater robots as described in claim 4, characterized in that, The reinforcing layer includes a steel strip.

6. A cable suitable for underwater robots as described in claim 4, characterized in that, The reinforcing layer includes a first steel wire layer, which is formed by stranding multiple steel wires into the second protective layer.

7. A cable suitable for underwater robots as described in claim 6, characterized in that, The reinforcing layer also includes a second steel wire layer, which is formed by multiple steel wires twisted together in the first steel wire layer.

8. An electric power system, characterized in that, It includes a ship electrical system, a power distribution module, a wiring module, a transformer module, a motor, and a cable as described in any one of claims 1-7. The ship electrical system, the power distribution module, the cable, and the wiring module are electrically connected in sequence, and the wiring module is electrically connected to the motor and the transformer module respectively.

9. A power system as described in claim 8, characterized in that, It also includes an optoelectronic slip ring and a winch, which are located close to the power distribution module and are used to wind up and unwind the cable.

10. A power system as described in claim 9, characterized in that, The power distribution module also includes a shunt voltage regulator and a frequency converter. The shunt voltage regulator shunts the ship's electricity and stabilizes the voltage, while the frequency converter controls the frequency of the current.

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