Unmanned remote control underwater vehicle for submarine cable inspection and fault detection
By designing an unmanned remotely operated vehicle (ROV) for submarine cable inspection and fault detection, integrating multiple sensor modules, the problem of low efficiency in submarine cable fault location has been solved, achieving high-precision detection and rapid fault location, thereby reducing economic losses and human risks.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- LONGYUAN BEIJING WIND POWER ENG TECH
- Filing Date
- 2025-04-25
- Publication Date
- 2026-05-12
AI Technical Summary
Existing technologies for locating faults in submarine cables are inefficient, time-consuming, and susceptible to marine environmental factors, resulting in long repair cycles and significant economic losses.
Design an unmanned remotely operated vehicle (ROV) for submarine cable inspection and fault detection, integrating an acoustic-optical-magnetic integrated observation module, a high-precision submarine cable detection module, a LIBS corrosion detection module, and an integrated positioning module. Equipped with multiple sensors, it achieves high-precision and autonomous submarine cable inspection.
It significantly improves the accuracy and safety of submarine cable inspection, shortens the fault location time from 22 days to 2-3 days, reduces labor costs and risks, and has diversified application potential.
Smart Images
Figure CN224225270U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of underwater vehicle technology, specifically to an unmanned remotely operated underwater vehicle for submarine cable inspection and fault detection. Background Technology
[0002] Submarine cables are the primary medium for transmitting electricity from offshore wind power and a critical infrastructure connecting power grids between continents and islands. Their stable operation is of great significance to regional power supply. However, submarine cables are susceptible to damage from factors such as undersea currents, microbial adhesion, aging of pipeline materials, and anchoring hazards, making them vulnerable to breakage and fracture. Once a submarine cable fails, the repair cycle typically exceeds two months, resulting in significant economic losses during the repair process. The fault location step is particularly complex and time-consuming during the repair process, averaging 22 days.
[0003] Traditional fault location methods rely on large vessels towing detectors with cables. First, coarse tools such as fault recorders and bridge locators are used to determine electrical distances. Then, a submarine cable detection system is used for medium-precision positioning. Finally, divers achieve precise positioning through methods such as "listening" and "touch." This process is not only inefficient and time-consuming, but also susceptible to the effects of marine environment and climate change, resulting in high operational risks. Therefore, those skilled in the art have provided an unmanned remotely operated vehicle (ROV) for submarine cable inspection and fault detection to address the problems mentioned in the background. Utility Model Content
[0004] (a) Technical problems to be solved
[0005] To address the shortcomings of existing technologies, this utility model provides an unmanned remotely operated vehicle for submarine cable inspection and fault detection, thereby solving the long-standing technical problems of long inspection windows, long time consumption, low efficiency, and inaccurate measurements in submarine cables.
[0006] (II) Technical Solution
[0007] To achieve the above objectives, this utility model provides the following technical solution: an unmanned remotely operated vehicle (UAV) for submarine cable inspection and fault detection, comprising a frame, a counterweight installed at the bottom of the frame, a buoyancy plate installed at the top of the frame, a collision protection strip installed at the front of the buoyancy plate, and a lifting mechanism installed at the top of the buoyancy plate. A cable distribution compartment is located within the frame, a power supply compartment is located behind the cable distribution compartment, an electronics compartment is located behind the power supply compartment, and a thruster is located behind the electronics compartment. A first fixed-focus camera is installed at the front of the frame, a lighting lamp is located above the first fixed-focus camera, a gimbal device is located above the lighting lamp, and a second fixed-focus camera is located above the gimbal device. A main control circuit board is located within the frame, integrating a drive system, an inspection system, a control power system, and a buoyancy subsystem. The inspection system consists of an integrated acoustic-optical-magnetic observation module, a high-precision submarine cable detection module, a LIBS corrosion detection module, and an integrated positioning module.
[0008] Preferably, the integrated acoustic-optical-magnetic observation module includes an integrated acoustic-optical-magnetic observation system, which includes a multi-beam imaging sonar, an image sonar, three high-definition fixed-focus cameras, and five sets of underwater lights. The cameras use wide-angle lenses and are equipped with self-cleaning mechanisms.
[0009] Preferably, the high-precision submarine cable detection module includes a high-precision submarine cable detection system, which includes a three-axis fluxgate detector and works in conjunction with an ultra-short baseline positioning system to achieve a burial depth calibration accuracy of ±0.1m and a satellite coordinate positioning accuracy of ±1m.
[0010] Preferably, the LIBS corrosion detection module includes a LIBS corrosion detection system, which comprises a laser-induced breakdown spectrometer and a confocal microprobe, capable of identifying surface defects and material composition changes at the 0.1 mm level.
[0011] Preferably, the integrated positioning module includes an integrated positioning system.
[0012] Preferably, the electronic cabin integrates a multimodal sensor group, including a compass, attitude sensor, depth sensor, temperature and humidity sensor group, and distributed leakage detection sensor, and the sensor data is transmitted back in real time through a carrier communication board.
[0013] Preferably, each end of the power supply compartment is provided with 6 sets of watertight connectors, and all of them adopt a redundant power supply design to support plug-and-play replacement of the thruster module.
[0014] Preferably, the main control circuit board integrates a drive system, an inspection system, a control power system, and a buoyancy subsystem.
[0015] Preferably, the inspection system consists of an integrated acoustic-optical-magnetic observation module, a high-precision submarine cable detection module, a LIBS corrosion detection module, and an integrated positioning module.
[0016] Preferably, the integrated acoustic-optical-magnetic observation module includes an integrated acoustic-optical-magnetic observation system, which comprises a multi-beam imaging sonar, an image sonar, a fixed-focus camera, and an underwater lighting system.
[0017] Preferably, the high-precision submarine cable detection module includes a high-precision submarine cable detection system, which includes a three-axis fluxgate detector.
[0018] Preferably, the LIBS corrosion detection module includes a LIBS corrosion detection system, which comprises a laser-induced breakdown spectrometer and a confocal microprobe.
[0019] Preferably, the integrated positioning module includes an integrated positioning system.
[0020] Preferably, the thruster consists of four horizontal TG490C thrusters and four vertical TG490A thrusters.
[0021] (III) Beneficial Effects
[0022] Compared with the prior art, this utility model provides an unmanned remotely operated vehicle for submarine cable inspection and fault detection, which has the following beneficial effects:
[0023] Through design, this utility model of an unmanned remotely operated underwater vehicle system adopts an open frame design, which can be equipped with different detection modules according to different application scenarios and detection needs, thus having a wide range of applications. It is not only suitable for submarine cable inspection and fault location in offshore wind farms, but also applicable to various tasks such as corrosion detection of offshore substations and wind turbines, and submarine cable burial depth surveying, demonstrating diversified application potential.
[0024] The application of this invention can not only improve the detection of submarine cables in offshore wind farms and the management of underwater assets, but also significantly improve the accuracy and safety of submarine cable detection.
[0025] The application of this utility model not only reduces labor costs but also lowers the risks caused by human factors. It is also reusable, has a long service life, and low maintenance costs, which can save relevant enterprises a lot of money. Attached Figure Description
[0026] Figure 1 This is a three-dimensional structural diagram of an unmanned remotely operated vehicle for submarine cable inspection and fault detection provided in an embodiment of this application.
[0027] Figure 2This is a structural diagram of the frame of an unmanned remotely operated vehicle for submarine cable inspection and fault detection provided in an embodiment of this application.
[0028] Figure 3 This is a schematic diagram of the system composition of an unmanned remotely operated vehicle for submarine cable inspection and fault detection provided in an embodiment of this application.
[0029] In the diagram: 1. Frame; 2. Counterweight; 3. Buoyancy plate; 4. Anti-collision strip; 5. Distribution compartment; 6. Power supply compartment; 7. Electronic compartment; 8. Thruster; 9. First fixed-focus camera; 10. Lighting light; 11. Pan-tilt unit; 12. Second fixed-focus camera; 13. Lifting mechanism; 14. Acoustic-optical-magnetic integrated observation module; 15. Submarine cable high-precision detection module; 16. LIBS corrosion detection module; 17. Integrated positioning module. Detailed Implementation
[0030] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.
[0031] This utility model provides a technical solution: an unmanned remotely operated vehicle (ROV) for submarine cable inspection and fault detection, comprising a frame 1, a counterweight 2 installed at the bottom of the frame 1, a buoyancy plate 3 installed on the upper part of the frame 1, a crash barrier 4 installed on the front side of the buoyancy plate 3, a lifting mechanism 13 installed on the top of the buoyancy plate 3, a cable distribution compartment 5 disposed inside the frame 1, a power supply compartment 6 disposed behind the cable distribution compartment 5, an electronics compartment 7 disposed behind the power supply compartment 6, a thruster 8 disposed behind the electronics compartment 7, and a third [unclear - possibly a device or mechanism] installed on the front side of the frame 1. A fixed-focus camera 9 is provided. An illumination lamp 10 is provided above the first fixed-focus camera 9. A pan-tilt unit 11 is provided above the illumination lamp 10. A second fixed-focus camera 12 is provided above the pan-tilt unit 11. A main control circuit board is provided inside the frame 1. The main control circuit board integrates a drive system, an inspection system, a control power system, and a buoyancy subsystem. The inspection system consists of an integrated acoustic-optical-magnetic observation module 14, a high-precision submarine cable detection module 15, a LIBS corrosion detection module 16, and an integrated positioning module 17.
[0032] The integrated acoustic-optical-magnetic observation module 14 includes an integrated acoustic-optical-magnetic observation system, which comprises a multi-beam imaging sonar, an image sonar, three high-definition fixed-focus cameras, and five sets of underwater lights. The cameras use wide-angle lenses and are equipped with a self-cleaning mechanism. The high-precision submarine cable detection module 15 includes a high-precision submarine cable detection system, which includes a three-axis fluxgate detector. It works in conjunction with the ultra-short baseline positioning system to achieve a burial depth calibration accuracy of ±0.1m and a satellite coordinate positioning accuracy of ±1m. The LIBS corrosion detection module 16 includes a LI... The BS corrosion detection system, specifically the LIBS corrosion detection system, includes a laser-induced breakdown spectrometer and a confocal microprobe, capable of identifying surface defects and material composition changes down to 0.1 mm. The integrated positioning module 17 includes an integrated positioning system. The electronics compartment 7 integrates a multimodal sensor group, including a compass, attitude sensor, depth sensor, temperature and humidity sensor group, and distributed leakage detection sensors. Sensor data is transmitted back in real time via a carrier communication board. The power supply compartment 6 has six sets of watertight connectors at each end, all with redundant power supply design, supporting plug-and-play replacement of the thruster module.
[0033] This invention enables unmanned and intelligent autonomous inspection of submarine cables by working in collaboration with a mother ship on the sea surface, significantly improving operational efficiency and reducing inspection time from 22 days to 2-3 days. It also has an ultra-long range of 460 kilometers, significantly shortening fault location time and effectively reducing economic losses caused by power outages due to submarine cable faults.
[0034] The application of this utility model can not only improve the detection of submarine cables and the management of underwater assets in offshore wind farms, but also significantly improve the accuracy and safety of submarine cable detection, achieving a submarine cable route burial depth calibration accuracy of ±0.1m, a damage detection accuracy of ±1m, and a fault location accuracy of ±0.1m, thus having significant market application value.
[0035] Within this utility model, an unmanned remotely operated vehicle (ROV) for submarine cable inspection and fault detection is disclosed, comprising the ROV body, a drive system, an inspection system, and a control power system.
[0036] During submarine cable inspections, the unmanned remotely operated vehicle system is connected to the surface mother ship via an umbilical cable, and the surface mother ship provides it with power, communication and navigation support.
[0037] The unmanned remotely operated vehicle (UAV) features an open-frame design and is equipped with multiple sensors. Its overall dimensions (length × width × height) are 1584mm × 940mm × 710mm. It has an underwater power output of 20kW, a surface power output of 30kW, a depth rating of 300m, an air weight of 265kg, and a payload of 30kg.
[0038] The propulsion system (8) of the unmanned remotely operated vehicle consists of four horizontal TG490C thrusters and four vertical TG490A thrusters, providing the unmanned remotely operated vehicle with all-round motion capabilities, thereby realizing real-time control of motion with full degrees of freedom, enabling the unmanned remotely operated vehicle to flexibly perform operations such as forward movement, backward movement, left and right translation, surfacing and diving, and attitude maintenance in the water.
[0039] The unmanned remotely operated vehicle is equipped with a three-axis fluxgate advanced detector to calibrate the route and burial depth of submarine cables, a LIBS corrosion detection system to detect faults and damage locations of submarine cables, a multi-beam imaging sonar, an image sonar, three high-definition fixed-focus cameras and five underwater lights to visualize underwater assets of offshore wind farms and provide first-hand data on equipment, and an ultra-short baseline positioning system to cooperate with the dynamic positioning system on the mother ship at sea to achieve coordinate positioning of submarine cables.
[0040] Workflow:
[0041] (1) Underwater autonomous cruise submarine cable route and burial depth detection process
[0042] Submarine cable routing and burial depth are crucial parameters in power system maintenance. The sensors used in submarine cable routing and burial depth investigation are three-axis vector magnetic sensor modules mounted on the front end of an unmanned underwater vehicle (UUV). Locating the cable's coordinates involves multiple calculation steps. The total magnetic field and its three components are obtained from the three-axis vector magnetic sensor module, and inertial navigation data is acquired through an attitude measurement module. Using the inertial navigation data, the magnetic field components in the sensor coordinates are converted to geographic coordinates. Based on this data and the magnetic field simulation of the three-core, three-phase submarine cable, the magnetic characteristic signal of the current is extracted, and the relative direction between the UUV and the cable is calculated. The surface support vessel can then navigate towards the cable. The horizontal distance between the midpoint of the two points and the cable is calculated based on the magnetic field and GPS data from two points before and after a fixed time period. Finally, using a specific geometric algorithm and GPS solution, the cable's position coordinates are calculated. As for the burial depth, an altimeter is used to measure the height of the sensor above the seabed; the difference between this measurement and the position information yields the cable's burial depth.
[0043] (2) Corrosion damage assessment process for submarine cable-related equipment
[0044] Using the LIBS system mounted on an unmanned remotely operated vehicle, damage and corrosion detection of submarine cables and steel structures at underwater J-shaped pipes were carried out. A laser-induced breakdown spectrum database of typical soluble salt samples from submarine cables and steel structures throughout the site was established, thereby enabling the assessment of corrosion damage to submarine cable-related equipment.
[0045] (3) Process of determining the location of submarine cable faults
[0046] To detect submarine cable breakage caused by factors such as anchor chain snagging by passing vessels, cable breakdown due to overcurrent or overheating, and wear and tear during construction, a dual three-dimensional orthogonal magnetic array mounted on an unmanned remotely operated vehicle (UUV) is combined with multibeam and side-scan sonar mounted on a surface mother ship, along with a high-definition fixed-focus camera and underwater lighting mounted on the UUV. By observing changes in the magnetic field near the damage point and abnormal changes in the seabed topography, the location of the cable break can be determined.
[0047] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.
[0048] In this document, unless otherwise expressly specified and limited, the terms "installation," "setting," "connection," "fixing," "screw connection," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; 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; they can refer to the internal connection of two components or the interaction between two components. Unless otherwise expressly limited, those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.
[0049] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.
Claims
1. A remotely operated underwater vehicle (ROV) for submarine cable inspection and fault detection, comprising a frame (1), characterized in that: A counterweight (2) is installed at the bottom of the frame (1), a buoyancy plate (3) is installed at the top of the frame (1), a front anti-collision strip (4) is installed on the front side of the buoyancy plate (3), a lifting mechanism (13) is installed at the top of the buoyancy plate (3), a splitter compartment (5) is provided inside the frame (1), a power supply compartment (6) is provided at the rear side of the splitter compartment (5), an electronic compartment (7) is provided at the rear side of the power supply compartment (6), a thruster (8) is provided at the rear of the electronic compartment (7), a first fixed-focus camera (9) is installed at the front side of the frame (1), a lighting lamp (10) is provided above the first fixed-focus camera (9), a gimbal device (11) is provided above the lighting lamp (10), a second fixed-focus camera (12) is provided above the gimbal device (11), and a main control circuit board is provided inside the frame (1).
2. The unmanned remotely operated vehicle for submarine cable inspection and fault detection according to claim 1, characterized in that: The electronic cabin (7) integrates a multimodal sensor group, including a compass, attitude sensor, depth sensor, temperature and humidity sensor group and distributed leakage detection sensor.
3. The unmanned remotely operated vehicle for submarine cable inspection and fault detection according to claim 1, characterized in that: The power supply compartment (6) is equipped with watertight connectors at both ends, and both adopt redundant power supply design.
4. The unmanned remotely operated vehicle for submarine cable inspection and fault detection according to claim 1, characterized in that: The main control circuit board integrates a drive system, an inspection system, a control power system, and a buoyancy subsystem.
5. The unmanned remotely operated vehicle for submarine cable inspection and fault detection according to claim 4, characterized in that: The inspection system consists of an integrated acoustic-optical-magnetic observation module (14), a high-precision submarine cable detection module (15), a LIBS corrosion detection module (16), and an integrated positioning module (17).
6. The unmanned remotely operated vehicle for submarine cable inspection and fault detection according to claim 5, characterized in that: The integrated acoustic-optical-magnetic observation module (14) includes an integrated acoustic-optical-magnetic observation system, which includes a multi-beam imaging sonar, an image sonar, a fixed-focus camera, and an underwater lighting lamp.
7. The unmanned remotely operated vehicle for submarine cable inspection and fault detection according to claim 5, characterized in that: The submarine cable high-precision detection module (15) includes a submarine cable high-precision detection system, which includes a three-axis fluxgate detector.
8. The unmanned remotely operated vehicle for submarine cable inspection and fault detection according to claim 5, characterized in that: The LIBS corrosion detection module (16) includes a LIBS corrosion detection system, which includes a laser-induced breakdown spectrometer and a confocal microprobe.
9. The unmanned remotely operated vehicle for submarine cable inspection and fault detection according to claim 5, characterized in that: The integrated positioning module (17) includes an integrated positioning system.
10. The unmanned remotely operated vehicle for submarine cable inspection and fault detection according to claim 1, characterized in that: The thruster (8) consists of four horizontal TG490C thrusters and four vertical TG490A thrusters.