A distributed underwater control system

Abstract

The application discloses a kind of distributed underwater control systems, which distributed underwater control system includes cable group, water equipment and at least two underwater equipment, wherein: water equipment is connected with at least two underwater equipment by cable group, cable group includes at least two connecting cables, the number of connecting cable and the number of underwater equipment are equal and one-to-one correspondence;At least two underwater equipment includes at least one operating equipment and at least one auxiliary equipment, auxiliary equipment is provided with first cable fixing device and cable maintaining device;The number of cable maintaining device is less than or equal to the number of operating equipment;Connecting cable of connecting auxiliary equipment is directly connected with auxiliary equipment via first cable fixing device;Connecting cable of connecting operating equipment is connected with operating equipment via cable maintaining device.Compared with prior art, it can effectively avoid the problem that the operating range of operating equipment is limited due to unreasonable cable layout, while enhancing the stability and flexibility of the system.

Description

Technical Field

[0001] This application relates to the field of underwater equipment technology, and in particular to a distributed underwater control system. Background Technology

[0002] With the deepening of marine development activities, single underwater vehicles (ROVs, Remotely Operated Vehicles) are no longer sufficient to meet the depth coverage and efficiency requirements of complex underwater missions, making multi-level ROV collaboration a trend. In existing multi-level linkage solutions for underwater operations, the cable reels of the next-level ROV are typically mounted on the upper-level ROV. This results in the operating range of the lower-level ROV being limited by the number of cable reels on the upper-level ROV. Due to the size and weight of the ROV, the cable reels cannot provide excessively long cables for the lower-level ROV, thus restricting its movement range. Furthermore, since each level of ROV is constrained by its upper-level ROV, if the lower-level ROV encounters a sudden current, the upper-level ROV, due to its own weight and tensile strength, is easily pulled away, or unable to effectively recover the lower-level ROV. In other words, interconnected ROVs are easily affected by the mechanical forces of the marine environment. Utility Model Content

[0003] This application provides a distributed underwater control system to address the problems in existing systems, such as the limited mobility of operating equipment and the shared mechanical effects of the marine environment on interconnected underwater equipment.

[0004] To solve the above-mentioned technical problems, one technical solution adopted in this application is: to provide a distributed underwater control system, which includes a cable assembly, surface equipment, and at least two underwater devices, wherein: The surface equipment is connected to the at least two underwater devices via the cable group, the cable group including at least two connecting cables, and the number of connecting cables is equal to the number of underwater devices and corresponds one-to-one. The at least two underwater devices include at least one working device and at least one auxiliary device. The auxiliary device is equipped with a first cable fixing device and a cable maintaining device. The number of cable maintaining devices is less than or equal to the number of working devices. The connecting cable of the auxiliary device is directly connected to the auxiliary device via the first cable fixing device. The connecting cable of the working device is connected to the working device via the cable maintaining device.

[0005] In some embodiments, the first cable fixing device and the cable holding device are disposed on different sides of the auxiliary device.

[0006] In some embodiments, the first cable fixing device is disposed on the upper side of the auxiliary device; the cable holding device is disposed on the lower side of the auxiliary device, wherein the upper side is the side of the auxiliary device that is close to the surface device when the auxiliary device is in a horizontal position and facing underwater, and the lower side and the upper side are located on opposite sides of the auxiliary device.

[0007] In some embodiments, the connecting cable of the working equipment is connected to the working equipment via the cable holding device outside the auxiliary equipment or through the auxiliary equipment.

[0008] In some embodiments, the at least two connecting cables are wrapped by a cable sleeve, and the cable sleeve has a sleeve channel along the axial direction corresponding to the number of connecting cables, and each sleeve channel contains one connecting cable. The connecting cable for the working equipment is movably installed in the corresponding sleeve channel.

[0009] In some embodiments, the at least two underwater devices include an auxiliary device and two working devices. The auxiliary device is provided with two cable holding devices, and the two cable holding devices correspond one-to-one with the two working devices. The connecting cable of each working device is connected via one of the cable holding devices configured on the auxiliary device.

[0010] In some embodiments, the at least two underwater devices include at least two auxiliary devices and at least one working device. The at least two auxiliary devices are arranged in layers from the direction away from the surface device. Except for the first layer, the connecting cables of the auxiliary devices in the other layers are first fixed by the cable holding devices configured on all the upper-level auxiliary devices and then by their own first cable fixing devices. The connection cable of the working equipment is connected via a cable holding device configured on the nearest auxiliary equipment.

[0011] In some embodiments, the first cable fixing device includes a fixing base and a cable fixing body movably connected to the fixing base. The fixing base is fixedly installed on the auxiliary equipment. A first cable channel extending into the cable fixing body is opened on one end away from the fixing base. The connecting cable of the auxiliary equipment is fixed through the cable channel of the first cable fixing body. The cable holding device includes a holding base and a cable holding body movably connected to the holding base. The holding base is fixedly installed on the auxiliary equipment. A second cable channel extending into the cable holding body is opened at one end away from the holding base. The second cable channel is used to provide support for the connecting cable connected to the working equipment.

[0012] In some embodiments, the cable fixing body includes two first fixing arms and a nut. One end of the two first fixing arms is movably connected to the fixing base, and the nut is screwed to the other end of the two first fixing arms, so that the two first fixing arms combine to form a cable channel for the connecting cable to pass through. The nut has a through hole that communicates with the cable channel. The cable support includes two second fixing arms, one end of which is movably connected to the support base. The two second fixing arms are combined to form a cable channel through which the connecting cable passes.

[0013] In some embodiments, the work equipment is provided with a second cable fixing device, and the cable connecting the work equipment is connected to the work equipment after passing through the cable holding device and the second cable fixing device in sequence.

[0014] The beneficial effects of this application are as follows: Compared with the prior art, the working equipment cable is guided and fixed by the cable holding device of the auxiliary equipment. Combined with the physical fixing design of the cable of the auxiliary equipment itself, the dual constraint can resist the impact of underwater current impact and equipment attitude adjustment. In addition, the cable group can be adapted to the underwater equipment. The auxiliary equipment can provide connection support for the working equipment through the cable holding device, without the need to set up an additional fixed relay for the working equipment. It can fully adapt to the distributed deployment scenario of multiple devices and facilitate the flexible deployment of the working equipment in complex underwater environments. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the embodiments of this application 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 application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort, wherein: Figure 1 This is a schematic diagram of the structure of the distributed underwater control system provided in the first embodiment of this application.

[0016] Figure 2 This is a schematic diagram of the structure of the distributed underwater control system provided in the second embodiment of this application.

[0017] Figure 3 Is it like this? Figure 1 The diagram shows the structure of the cable assembly.

[0018] Figure 4 Is it like this? Figure 1 The diagram shows the structure of the first cable fixing device.

[0019] Figure 5 Is it like this? Figure 1 The diagram shows the structure of the cable holding device.

[0020] Figure 6 This is a schematic diagram of the structure of the distributed underwater control system provided in the third embodiment of this application.

[0021] Figure 7 This is a schematic diagram of the structure of the distributed underwater control system provided in the fourth embodiment of this application. Detailed Implementation The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0022] The terms "first," "second," and "third" used in the embodiments of this application are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first," "second," or "third" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or devices.

[0023] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a mutually exclusive, independent, or alternative embodiment. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0024] Please see Figure 1 , Figure 1This is a schematic diagram of the structure of the distributed underwater control system provided in the first embodiment of this application. The distributed underwater control system 10 includes a cable assembly 11, surface equipment 12, at least two underwater devices 13, and a cable reel 14. The cable reel 14 is mounted on the surface equipment 12, and the cable assembly 11 is mounted on the cable reel 14. The surface equipment 12 is connected to the at least two underwater devices 13 via the cable assembly 11. The cable assembly 11 includes at least two connecting cables, and the number of connecting cables is equal to and corresponds one-to-one with the number of underwater devices 13. The at least two underwater devices 13 include at least one operating device 131 and at least one auxiliary device 132. Figure 1 As shown, the two underwater devices 13 in this embodiment include an operating device 131 and an auxiliary device 132.

[0025] The auxiliary equipment 131 is equipped with a first cable fixing device 15 and a cable holding device 16. The number of cable holding devices 16 is less than or equal to the number of working equipment 132. The connecting cable 111 connecting the auxiliary equipment 131 is directly connected to the auxiliary equipment 132 via the first cable fixing device 15, and the connecting cable 112 connecting the working equipment 132 is connected to the working equipment 132 via the cable holding device 16 on the periphery of the auxiliary equipment 132.

[0026] This solution directly utilizes the connecting cables provided by the cable assembly of the surface equipment, eliminating the need for separate cable reels on auxiliary equipment and effectively extending the operating time of the auxiliary equipment. Furthermore, it avoids the problem of limited operating equipment movement caused by unreasonable cable layout, enhancing system stability and operational flexibility. Compared to existing technologies, the operating equipment cables are guided and fixed by the cable holding device on the auxiliary equipment. Combined with the physical fixing design of the auxiliary equipment's own cables, this dual constraint can resist the impact of underwater currents and equipment attitude adjustments. In addition, the cable assembly can be adapted to the underwater equipment, and the auxiliary equipment can provide connection support for the operating equipment through the cable holding device, eliminating the need for additional fixed repeaters. This fully adapts to distributed deployment scenarios with multiple devices, facilitating flexible deployment of operating equipment in complex underwater environments. To isolate the connecting cable 111 of the auxiliary device 131 and the connecting cable 112 of the working device 132 and prevent them from tangling, in this embodiment, the first cable fixing device 15 and the cable holding device 16 can be disposed on different sides of the auxiliary device 131. More specifically, the first cable fixing device 15 is disposed on the upper side of the auxiliary device 131; the cable holding device 16 is disposed on the lower side of the auxiliary device 131, wherein the upper side is the side of the auxiliary device 131 closest to the surface device 12 when it is in a horizontal position and facing underwater, and the lower side is located on opposite sides of the auxiliary device 131. The connecting cable 112 connecting to the working device 132 passes over the auxiliary device 131 from the upper side and is connected via the cable holding device 16 disposed on the lower side of the auxiliary device 131. Since the auxiliary device 131 is located above the working device 132 in the overall system hierarchy, the cable holding device 16 is designed to be installed at the bottom of the auxiliary device 131. On the one hand, it can effectively fix and guide the connection cable 112 of the working equipment 132, ensuring that the connection cable 112 maintains a stable position during operation and avoids affecting the normal operation of the working equipment 132 due to loosening or displacement; on the other hand, it also helps the connection cable 112 to extend more smoothly and naturally from above to the working equipment 132 after the auxiliary equipment 131 is installed and positioned, reducing bending and friction, thereby improving the reliability of the connection and the smoothness of the equipment operation.

[0027] Furthermore, the operating equipment 132 is also equipped with a second cable fixing device 17. The connecting cable 112, which connects to the operating equipment 132, is connected to the operating equipment 132 after passing through the cable holding device 16 and the second cable fixing device 17 in sequence. That is to say, the connecting cable 112 of the operating equipment 132 is first initially organized and positioned by the cable holding device 16, and then continues to extend, passing through the second cable fixing device 17, and finally achieving electrical and mechanical connection with the main body of the operating equipment 132. Therefore, the connecting cable 112 actually completes the organization of the wiring path and terminal access under the full guidance and stable support of the auxiliary equipment 131, ensuring the stability of the equipment connection and the safety of operation.

[0028] See Figure 2 , Figure 2 This is a schematic diagram of the distributed underwater control system provided in the second embodiment of this application. Figure 1 The difference in the provided embodiment is that the cable 112 connecting the working equipment 131 first enters the interior of the auxiliary equipment 131 through the first cable fixing device 15, and then exits to the outside of the auxiliary equipment 131 through the cable holding device 16 before connecting to the working equipment 131.

[0029] Please refer to the following: Figure 3 , Figure 3 yes Figure 1 A schematic diagram of the cable assembly. At least two connecting cables of the cable assembly 11 are wrapped by cable sleeves 110. The cable sleeves 110 have axially arranged conduit channels (not shown) corresponding to the number of connecting cables, with one connecting cable in each conduit channel. The connecting cable 112 for the working equipment 132 is movably disposed within its corresponding conduit channel. Figure 3 As shown, the connecting cable 111 connecting the auxiliary equipment 131 and the connecting cable 112 connecting the working equipment 132 are provided through a cable sleeve 110. The cable sleeve 110 has a tubular outer structure, and its interior can be divided into two sleeve channels along the axial direction or a single sleeve channel with a partition rib for isolation. It respectively accommodates the connecting cables 111 and 112. The cable sleeve 110 as a whole constitutes an outer protection + inner separation mechanism, allowing the connecting cables 111 and 112 to be placed parallel inside the cable sleeve 110, preventing the two cables from becoming entangled underwater due to water flow impact.

[0030] Furthermore, the connecting cable 112 can slide within the conduit channel. In terms of installation, the connecting cable 112 can be directly inserted into the conduit channel. Since the outer surface of the connecting cable 112 and the inner wall of the conduit channel are both made of smooth material, they can move relative to each other.

[0031] In one embodiment, the connecting cable 111 can be fixed to the sleeve channel, which can be achieved by using an adhesive or other means between the connecting cable 111 and the sleeve channel. Fixing the connecting cable 111 to the sleeve channel increases its weight, but when the auxiliary device 131 is suspended at a fixed depth, the connecting cable 111 can effectively counteract the thrust of the water flow, thus stabilizing the underwater anchor point.

[0032] Understandably, the connecting cable 111 can also move relative to the conduit channel, allowing it to slide freely axially relative to the conduit channel under the pull of the auxiliary equipment 131. The cable reel 14 of the watercraft 12 provides independent control over the cable's deployment and retraction. Its degree of freedom of movement relative to the conduit channel depends on the operational requirements of the auxiliary equipment 131, thereby increasing the range of motion of the auxiliary equipment 131.

[0033] The connecting cable 111 for the auxiliary equipment 131 is a positive buoyancy cable or a neutral buoyancy cable, while the connecting cable 112 for the working equipment 132 is a negative buoyancy cable or a neutral buoyancy cable. By reasonably selecting and matching connecting cables with different buoyancy characteristics, it is possible to effectively avoid the connecting cables becoming excessively slack or excessively tight in the middle area due to buoyancy mismatch, thereby significantly reducing the risk of cable breakage and ensuring the stability and safety of the equipment connection.

[0034] Please refer to the following: Figure 4 and Figure 5 , Figure 4 yes Figure 1 The diagram shows the structure of the first cable fixing device 15. Figure 5 yes Figure 1 The diagram shows the structure of the cable holding device. The first cable fixing device 15 and the second cable holding device 17 have the same structure; the only difference is the object they are installed on. Figure 4 As shown, the first cable fixing device 15 includes a fixing base 151 and a cable fixing body 152 movably connected to the fixing base 151. The fixing base 151 is fixedly installed on the auxiliary equipment 131. A first cable channel 150 extending into the cable fixing body 152 is opened at one end away from the fixing base 151. The connecting cable of the auxiliary equipment 131 is fixed through the first cable channel 150 of the cable fixing body 152.

[0035] The cable holding device 16 includes a holding base 161 and a cable holding body 162 movably connected to the holding base 161. The holding base 161 is fixedly installed on the auxiliary equipment 131. A second cable channel 160 extending into the cable holding body 162 is provided at one end away from the holding base 161. The second cable channel 160 is used to position and support the connecting cable 112 of the connecting work equipment 132.

[0036] Specifically, the cable fixing body 152 includes two first fixing arms 156 and a nut 157. One end of the two first fixing arms 156 is movably connected to the fixing base 151, and the nut 157 is screwed to the other end of the two first fixing arms 156, so that the two first fixing arms 156 are combined to form a first cable channel 150 for the connecting cable to pass through. The nut 157 has a through hole that connects to the first cable channel 150.

[0037] The two first fixing arms 156 work in conjunction with the release device to perform traction or release actions. The nut 157 is used to be sleeved on the connecting cable. The two first fixing arms 156 are used to change from open to closed to house the connecting cable in the formed first cable channel 150. Then the nut 157 is screwed into the head of the two first fixing arms 156 to lock the connecting cable in the cable channel.

[0038] The cable holder 162 includes two second fixing arms 163, one end of which is movably connected to the holding base 161. The two second fixing arms 163 are combined to form a second cable channel 160 for the connection cable to pass through.

[0039] In this embodiment, a channel opening 170 may be formed on one end of at least one first fixing arm 156 near the fixing base 151, or the channel opening 170 may be formed by two first fixing arms 156 together, and the channel opening 170 is connected to the first cable channel 150. This allows the connecting cable in the first cable channel 150 to pass through the channel opening 170 and extend to the outside of the auxiliary device 131.

[0040] Similarly, a channel opening 180 can be formed on at least one end of the second fixing arm 163 near the holding base 161, or the channel opening 180 can be formed by two second fixing arms 163 together, and the channel opening 180 is connected to the second cable channel 160. This allows the connecting cable in the second cable channel 160 to pass through the channel opening 180 and extend to the outside of the auxiliary device 131, or the connecting cable entering through the channel opening 180 can pass through the second cable channel 160.

[0041] In other embodiments, a connecting channel connecting the inside and outside of the auxiliary equipment can be opened on the base 161; the connecting cable 112 connecting the working equipment 132 can extend from inside the auxiliary equipment 131 through the above-mentioned connecting channel and the second cable channel 160 to the outside of the auxiliary equipment 131.

[0042] Combination Figure 3 From the structure of the cable assembly, it can be seen that... Figure 1 When configuring the connecting cables for auxiliary equipment 131 and working equipment 132, the connecting cable 111 of auxiliary equipment 131 and the connecting cable 132 of working equipment 132 extend from the watercraft 12 to the first cable fixing device 15 of auxiliary equipment 131 as a single cable. After passing through the first cable channel 150 of the first cable fixing device 15, they are fixed by the two first fixing arms 156 of the cable fixing body 152. Thus, the connecting cable 111 of auxiliary equipment 131 is fixed inside the first cable channel 150, while the connecting cable 112 of working equipment 132 passes through the cable sleeve 110 of the cable group 11 and extends out through the channel opening 170 of the first cable fixing device 15 to the outside of auxiliary equipment 131, and extends to the cable holding device 16 located on the lower side of auxiliary equipment 131. In the cable holding device 16, the cable passes through the channel opening 180 of the cable holding device 16 into the second cable channel 160, and extends from the second cable channel 160 to the outside of the auxiliary equipment 131 before being fixed by the second cable fixing device 17 on the working equipment 132. The fixing method is the same as the fixing method of the first cable fixing device 15 for the connecting cable 111 of the auxiliary equipment 131, and will not be described again here.

[0043] Please see Figure 6 , Figure 6This is a schematic diagram of a distributed system provided in the third embodiment of this application. The distributed underwater control system 20 differs from the distributed underwater control system 10 in the following aspects: In this embodiment, at least two underwater devices 23 include an auxiliary device 231 and two working devices 232 and 233. The auxiliary device 231 is equipped with two cable holding devices 24 and 25, which correspond one-to-one with the two working devices 232 and 233. The connecting cable of each working device is connected via a cable holding device configured on the auxiliary device 231. Figure 6 As shown, the connecting cable 212 of the working equipment 232 is connected via the cable holding device 24 of the auxiliary equipment 231, and the connecting cable 213 of the working equipment 233 is connected via the cable holding device 25 of the auxiliary equipment 231. That is, when laying out the connecting cables of each working device, they are first initially positioned by a dedicated cable holding device equipped on the auxiliary equipment 231. This device effectively constrains the cable routing and prevents tangling. Subsequently, each cable is introduced into the second cable fixing device of the working equipment itself for secondary tightening to ensure reliable connection. Through this hierarchical and phased fixing method, centralized management of connecting cables can be achieved within an independent and complete "positioning + fixing" system, preventing tangling or interference between different cables and improving the stability and safety of the entire working equipment during operation.

[0044] It is understood that in other embodiments, only one cable holding device may be provided on the auxiliary device 231, which positions the connecting cables of the working devices 232 and 233. In other embodiments, the connecting cables 212 and 213 may also pass through the auxiliary device 231 and the cable holding devices 24 and 25 respectively before connecting to the working devices 232 and 233 respectively.

[0045] Please see Figure 7 , Figure 7 This is a schematic diagram of a distributed system provided in the fourth embodiment of this application. The distributed underwater control system 30 differs from the distributed underwater control systems 10 and 20 in the previous embodiments in that the at least two underwater devices in this embodiment include at least two auxiliary devices 331 and at least one working device 333. The at least two auxiliary devices 331 are arranged in a hierarchical manner from the direction away from the surface device 31. Except for the first level, the connecting cables of the auxiliary devices at other levels are first fixed by the cable holding devices configured on all the upper-level auxiliary devices and then by their own first cable fixing devices. The connecting cable of the working device 333 is connected by the cable holding device configured on the closest auxiliary device.

[0046] For example, such as Figure 7As shown, the two underwater devices include three auxiliary devices 331, 332, and 333, and one working device 334. The auxiliary devices 331-333 are arranged in a hierarchical manner from the direction away from the surface device 31, that is, auxiliary device 331 is the first level, auxiliary device 332 is the second level, and auxiliary device 333 is the third level. The connecting cable 312 of the second-level auxiliary device 332 first passes through the cable holding device 35 configured on the upper-level auxiliary device 331, and then is fixed by its own first cable fixing device 36. The connecting cable 313 of the third-level auxiliary device 333 first passes through the cable holding device 35 configured on the first-level auxiliary device 331, then is positioned by the cable holding device 37 configured on the second-level auxiliary device 332, and finally is fixed by its own first cable fixing device 38.

[0047] Combination Figure 3 As can be seen from the structure of the cable group shown, the number of connecting cables wrapped in the cable tube can be set according to the level. For example, the cable tube contained in the first cable fixing device 34 of the first-level auxiliary device 331 wraps the connecting cables 311, 312 and 313. Similarly, the cable tube contained in the first cable fixing device 36 of the second-level auxiliary device 332 wraps the connecting cables 312 and 313. The third-level auxiliary device 333 is the deepest level, and its first cable fixing device 38 fixes its own connecting cable 313. Specifically, the connecting cable 311 of the first-level auxiliary device 331 is fixed by its own first cable fixing device 34, while the connecting cables of the second-level and third-level auxiliary devices 332 and 333 pass through the first cable fixing device 34 of the first-level auxiliary device 331, and then bypass the auxiliary device 331 before being positioned by the cable holding device 35 of the auxiliary device 331; similarly, after the connecting cable 312 of the auxiliary device 332 is fixed by its own first cable fixing device 36, the connecting cable 313 of the third-level auxiliary device 333 passes through the first cable fixing device 36 of the second-level auxiliary device 332, and then bypasses the auxiliary device 332 before being positioned by the cable holding device 37 of the auxiliary device 332.

[0048] The connecting cable 314 of the working equipment 334 is connected via a cable holding device configured on the nearest auxiliary equipment. For example... Figure 7 As shown, the third-level auxiliary device 333 is the closest auxiliary device to the working device 334. Therefore, the connecting cable 314 of the working device 334 is positioned only by the cable holding device 39 of the auxiliary device 333, and then fixed by its own second cable fixing device 310.

[0049] In this embodiment, the connecting cables of the auxiliary equipment are first initially organized and positioned by the cable holding devices configured on the upper-level auxiliary equipment, and then finally fixed by the first cable fixing device installed on the auxiliary equipment itself. This dual fixing method effectively enhances the mechanical stability and structural reliability of the cables as anchor points. Meanwhile, the connecting cables of the working equipment are connected only through the cable holding devices installed on the nearest auxiliary equipment. This design avoids the redundancy of multiple fixing layers, simplifies the wiring structure, and thus better ensures the flexibility and mobility of the working equipment during actual operation.

[0050] The above description is merely an embodiment of this application and does not limit the patent scope of this application. Any equivalent structural or procedural transformations made using the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this application.

Claims

1. A distributed underwater control system, characterized in that, The distributed underwater control system includes a cable assembly, surface equipment, and at least two underwater devices, wherein: The surface equipment is connected to the at least two underwater devices via the cable group, the cable group including at least two connecting cables, and the number of connecting cables is equal to the number of underwater devices and corresponds one-to-one. The at least two underwater devices include at least one working device and at least one auxiliary device. The auxiliary device is equipped with a first cable fixing device and a cable maintaining device. The number of cable maintaining devices is less than or equal to the number of working devices. The connecting cable of the auxiliary device is directly connected to the auxiliary device via the first cable fixing device. The connecting cable of the working device is connected to the working device via the cable maintaining device.

2. The distributed underwater control system according to claim 1, characterized in that, The first cable fixing device and the cable holding device are located on different sides of the auxiliary equipment.

3. The distributed underwater control system according to claim 2, characterized in that, The first cable fixing device is disposed on the upper side of the auxiliary equipment; the cable holding device is disposed on the lower side of the auxiliary equipment, wherein the upper side is the side of the auxiliary equipment that is close to the surface equipment when the auxiliary equipment is in a horizontal position and facing downwards underwater, and the lower side and the upper side are located on opposite sides of the auxiliary equipment.

4. The distributed underwater control system according to claim 1, characterized in that, The connecting cable of the working equipment is connected to the working equipment via the cable holding device outside the auxiliary equipment or through the auxiliary equipment.

5. The distributed underwater control system according to claim 1, characterized in that, The at least two connecting cables are wrapped by cable sleeves, and the cable sleeves have axially arranged sleeve channels corresponding to the number of connecting cables, with one connecting cable in each sleeve channel; The connecting cable for the working equipment is movably installed in the corresponding sleeve channel.

6. The distributed underwater control system according to claim 1, characterized in that, The at least two underwater devices include an auxiliary device and two working devices. The auxiliary device is equipped with two cable holding devices, and the two cable holding devices correspond one-to-one with the two working devices. The connecting cable of each working device is connected via one of the cable holding devices configured on the auxiliary device.

7. The distributed underwater control system according to claim 1, characterized in that, The at least two underwater devices include at least two auxiliary devices and at least one working device. The at least two auxiliary devices are arranged in layers from the direction away from the surface device. Except for the first layer, the connecting cables of the auxiliary devices at other layers are first fixed by the cable holding devices configured on all the upper-level auxiliary devices and then by their own first cable fixing devices. The connection cable of the working equipment is connected via a cable holding device configured on the nearest auxiliary equipment.

8. The distributed underwater control system according to any one of claims 1-7, characterized in that, The first cable fixing device includes a fixing base and a cable fixing body movably connected to the fixing base. The fixing base is fixedly installed on the auxiliary equipment. A first cable channel extending into the cable fixing body is opened on one end away from the fixing base. The connecting cable of the auxiliary equipment is fixed through the first cable channel. The cable holding device includes a holding base and a cable holding body movably connected to the holding base. The holding base is fixedly installed on the auxiliary equipment. A second cable channel extending into the cable holding body is opened at one end away from the holding base. The second cable channel is used to provide support for the connecting cable connected to the working equipment.

9. The distributed underwater control system according to claim 8, characterized in that, The cable fixing body includes two first fixing arms and a nut. One end of the two first fixing arms is movably connected to the fixing base, and the nut is screwed to the other end of the two first fixing arms, so that the two first fixing arms combine to form a cable channel for the connecting cable to pass through. The nut has a through hole that connects to the cable channel. The cable support includes two second fixing arms, one end of which is movably connected to the support base. The two second fixing arms are combined to form a cable channel through which the connecting cable passes.

10. The distributed underwater control system according to claim 1, characterized in that, The work equipment is equipped with a second cable fixing device, and the cable connecting the work equipment is connected to the work equipment after passing through the cable holding device and the second cable fixing device in sequence.

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