431 results about "Umbilical cable" patented technology

The present invention relates to an umbilical cable bending stiffness testing device and method. The device comprises a workbench; a measuring groove is formed in the top of the workbench; a fixing assembly is arranged in the measuring groove, and the fixing assembly is used for fixing two ends of an umbilical cable; a mounting plate is fixedly connected to the bottom of the workbench; a mounting frame is fixedly connected to the upper surface of the mounting plate; a threaded rod is rotatably connected between the lower surface of the mounting frame and the upper surface of the mounting plate; obtained data is transmitted to a dynamic data acquisition system by means of a displacement monitor body; the dynamic data acquisition system calculates obtained parameters to obtain bending stiffness curves of the umbilical cable under different curvatures. Moreover, because the device is in rigid connection with the umbilical cable by means of two sets of hoops, the problem of stress concentration caused by flexible connection of a steel strand rope is avoided, and the rigid connection ensures that tensile loads can be applied to two points of the umbilical cable in a balanced manner during an experiment, thereby improving the accuracy of bending stiffness testing results.

The invention discloses a temperature monitoring method and device for an umbilical cable stacked on a winch, a medium and a product, and relates to the field of umbilical cable temperature monitoring, and the method comprises the steps: constructing a finite element model of multilayer stacking of the umbilical cable to be detected according to the structure, material thermal parameters and boundary conditions of the umbilical cable to be detected; stacking the to-be-tested umbilical cable on a winch drum, placing the to-be-tested umbilical cable in an environment simulation cabin, carrying out a temperature rise test, and obtaining the operation temperature of the to-be-tested umbilical cable by using a distributed optical fiber temperature measurement system connected with an outer port of the to-be-tested umbilical cable; and constructing a time sequence data set according to the operation temperature, the operation time, the environment temperature, the stacking layer number and the current-carrying capacity of the to-be-tested umbilical cable, training a neural network according to the time sequence data set, and predicting the temperature rise of the to-be-tested umbilical cable by using the trained neural network. According to the invention, the operation temperature of the umbilical cable can be monitored on line, and the temperature rise of the umbilical cable can be predicted.

The invention relates to an underwater robot take-up and pay-off device and a take-up and pay-off wave compensation method. The device comprises a cable storage winch, a wave compensation component, an A frame, a swing stopper, load equipment, an umbilical cable and a controller, and the umbilical cable is connected with the cable storage winch and the load equipment. The wave compensation component comprises a base, a swing support, a first driving component, a first guide wheel, a sliding base, a second driving component, a first force measuring shaft pin and a first encoder, the swing support is connected with the base, the sliding base slides along the swing support, and the first guide wheel is installed on the sliding base. The A frame is connected with a ship body and provided with a motion reference unit; the oscillation stopping device comprises a second guide wheel, a second force measuring shaft pin and a second encoder and is installed on the A frame. The load device is provided with an inertial measurement unit. Through the controller, based on intelligent switching of tension control and wave compensation modes, the first driving part achieves passive compensation, the second driving part adjusts the tension of the umbilical cable according to the heaving motion, and safe and efficient operation of equipment is ensured.

The invention relates to a self-sinking type wave energy glider which comprises a water surface boat body and an underwater wave energy propeller, the water surface boat body and the underwater wave energy propeller are connected through an umbilical cable, the water surface boat body is of a hollow structure, and a cavity is formed in the water surface boat body; the exhaust assembly is connected with the cavity and used for exhausting gas in the water surface boat body; the water inlet assembly is connected with the cavity and used for sucking water into the water surface boat body from the outside; and the control unit is in signal connection with the exhaust assembly and the water inlet assembly. Through ingenious design of the water surface boat body of the wave energy glider, rapid self-sinking of the wave energy glider can be achieved only by adding components such as the water pump and the electromagnetic valve. And meanwhile, the buoyancy material in the water surface boat body can realize normal discharge of air in the self-sinking process, so that reliable self-sinking of the water surface boat body is ensured. The wave glider has multiple protection measures, and self-sinking of the wave glider cannot be caused even if a certain part is damaged or malfunctions.

The invention discloses an umbilical cable for a lunar penetrator and a coiling installation method of the umbilical cable, and relates to the technical field of lunar penetrators. The umbilical cable main body comprises an armor tube, an umbilical cable insulating sheath and an umbilical cable metal shielding layer, a Kevlar rope and a cable are arranged in the umbilical cable metal shielding layer, and the length of the Kevlar rope is smaller than that of the cable. When the umbilical cable main body is mounted in a coiled manner, the umbilical cable main body extending out of the penetration stage forms an inverted S-shaped back-bending section outside the joint of the penetration stage and the power stage; and meanwhile, the umbilical cable main body is also subjected to wave-shaped wire coiling on the outer wall of the power stage, and is mounted on the power stage through a fixing assembly. The invention provides an umbilical cable for a lunar penetrator and a coiling installation method of the umbilical cable, which can ensure that the umbilical cable is not damaged in a penetration process so as to carry out effective data transmission.

The present invention discloses a hydrodynamic performance test device for a flexible umbilical cable of a wave glider, comprising: a connecting frame, used to connect the device to a crossbeam of a towing tank vehicle; a slide rail, installed at the lower part of the connecting frame; a horizontal slide, slidably arranged on the slide rail; an umbilical cable to be tested, the first end of which is connected to the connecting frame through a two-degree-of-freedom conversion device and a three-component force sensor, and the second end is connected to the horizontal slide through a two-degree-of-freedom conversion device and a single-component force sensor; a pre-tension adjustment device, installed on the crossbeam, and the pre-tension adjustment device is connected to the horizontal slide; an image acquisition device, arranged on the connecting frame above the umbilical cable to be tested, for recording the motion state of the umbilical cable to be tested. The present invention can restore the real state of the flexible umbilical cable to the greatest extent, eliminate the influence of other components of the wave glider on the hydrodynamic characteristics of the flexible umbilical cable, and directly obtain the hydrodynamic characteristics of the flexible umbilical cable.

The invention discloses an umbilical cable anomaly detection method, and the method comprises the steps: constructing an image data set containing winding, damage and bending, employing a target detection model (including WTConv convolution, a double-domain selection mechanism and a mixed expansion residual attention module) based on deep learning, and combining fine-grained distribution refinement and a global optimal positioning self-distillation algorithm to optimize a prediction result. After the model is trained, the abnormity of the umbilical cable can be detected in real time, online learning is supported, the detection precision is improved, the method is suitable for monitoring the cable state of the underwater robot, and the operation safety and efficiency are remarkably improved.

The invention discloses a dynamic encryption transmission method and system for sound-light alarm signals, and relates to the field of data encryption, and the method comprises the steps: obtaining a dynamic environment entropy value; generating a pseudo-random chaotic sequence; obtaining a helium-oxygen mixed gas density parameter in the dynamic environment entropy value; segmenting a preset standard alarm waveform into a plurality of signal waveforms in a time domain, and generating a distorted signal waveform according to the helium-oxygen mixed gas density parameter; performing encryption modulation on the distorted signal waveform to generate an encrypted distorted signal waveform; determining a sending sequence and a sending interval of the encrypted distortion signal waveform by combining a pseudo-random chaos sequence based on an impedance fluctuation value and background acoustic spectrum characteristics in the dynamic environment entropy; generating a dynamic modulation signal based on the transmission sequence and the transmission interval; the dynamic modulation signal is sent to a water surface console through an umbilical cable; and receiving the guide pulse, performing phase conjugation processing on the guide pulse, generating an echo verification signal, and transmitting the echo verification signal back to the water surface console.

The invention discloses a concentric umbilical cable for an unmanned aerial vehicle and a preparation method thereof, and relates to the technical field of umbilical cables for unmanned aerial vehicles. The cable insulation layer is optimized, the overall weight of the cable is reduced, and the mechanical performance of the cable is enhanced. In the process, a macromolecular voltage stabilizer is innovatively adopted, and the problem that a traditional micromolecular voltage stabilizer is easy to separate out is effectively avoided. In order to improve the compatibility of the macromolecular voltage stabilizer in polypropylene, the macromolecular voltage stabilizer is further subjected to grafting treatment through allyl amine.

The invention relates to an underwater special operation robot and a butt joint method thereof.The underwater special operation robot body comprises a main buoyancy shell, a body main support, an umbilical cable, a power propelling system, a combined navigation system, a lamplight camera system, a capturing and locking device and a wet plugging device; the power propulsion system is used for driving the underwater special operation robot body to move; the combined navigation system is used for accurately positioning and navigating the underwater special operation robot; the light camera system is used for identifying and extracting an unmanned underwater vehicle AUV end docking device; the capturing and locking device is used for being connected with an unmanned underwater vehicle (AUV) end docking device in a locking mode. After the underwater special operation robot is in butt joint with the unmanned underwater vehicle AUV, energy supply and information transmission are completed, so that the unmanned underwater vehicle AUV can continuously perform underwater operation, low operation efficiency caused by frequent floating is avoided, and meanwhile, the safety risk possibly occurring in the process of recycling the unmanned underwater vehicle AUV is also reduced.

The invention discloses a marine pipe cable damping device which comprises a double-layer pipe body, a damping device and a damping device, and the double-layer pipe body is arranged outside a marine pipe cable in a sleeving mode and fixed to the marine pipe cable through a buckling device; the double-layer pipe body comprises an outer-layer pipe and an inner-layer pipe which are coaxially arranged, an interlayer space is arranged between the outer-layer pipe and the inner-layer pipe, a drainage hole communicated with the interlayer space is formed in the outer-layer pipe, an inflation buoyancy module is arranged in the interlayer space, a vibration power generation device is fixed to the outer-layer pipe, and a water pressure sensor is installed on the outer surface of the vibration power generation device; a controller is arranged on the outer surface of the outer-layer pipe, and the vibration power generation device is electrically connected with the controller; the water pressure sensor is electrically connected with the controller, and the controller is electrically connected with the inflatable buoyancy module; and a plurality of vibration reduction fins are irregularly distributed and fixed on the outer surface of the outer-layer pipe. The marine flexible pipe cable can achieve efficient vibration reduction and buoyancy adjustment, and then the stability, durability and safety of the marine flexible pipe cable in a complex dynamic environment are improved.

The invention discloses an underwater blowout preventer myriameter photoelectric composite cable lowering and recycling system which comprises an integrated frame, a cable storage winch is connected to one side of the bottom of the integrated frame, a cable arrangement device is further connected to the bottom of the integrated frame, the cable arrangement device is arranged close to the cable storage winch, and a second guide pulley and a compensator are further connected to the bottom of the integrated frame. The middle of the integrated frame is connected with a traction winch, one side of the traction winch is connected with a first guide pulley, the cable storage winch is connected with an umbilical cable, and the umbilical cable sequentially penetrates through the cable arrangement device, the second guide pulley, the compensator, the first guide pulley and the traction winch. Double-closed-loop control is adopted, the problems that distance cable arrangement dislocation is caused by accumulative errors of PLC control synchronous cable arrangement and umbilical cables and underwater blowout preventers cannot be normally recycled and put down due to faults of a single sensor are solved, self-adaptive cable arrangement and real-time correction are conducted in a mechanical mode, accurate cable arrangement is achieved, and the working efficiency is improved. Compared with an angle sensor, the structure is simple and no accumulative error exists.

An adaptive tension compensator system is provided for offshore charging a vessel via an umbilical cable of a motor-driven spool disposed at a power plant. The compensator system comprises: a motor hub member (102) mountable to a motor shaft (20) and configured to transmit rotational motion between a motor (18) and a winding drum (16) along a first rotational axis (104); a winding hub member (106) mountable to the winding drum, arranged coaxially with the motor hub member, and configured to transmit rotational motion between the winding drum and the motor; and a coupling mechanism (108) operably coupled between the winding hub member and the motor hub member, adapted to transmit rotational motion between the winding hub member and the motor hub member when the motor is in a first mode, and to transmit rotational motion between the winding hub member and the motor hub member when the motor is in a second mode. The motor hub member is adapted to provide a biased rotational movement of the winding hub member about the first axis of rotation relative to the motor hub member between a first angular position (110) and a second angular position (112).

The invention relates to the technical field of ship offset early warning, and provides a ship offset early warning method for a deep-sea mining in-situ pilot production system, which can solve the problem that the existing mother ship offset monitoring mode is too simple, improve the accuracy of judging the position of a ship body and perform effective early warning. Comprising the following steps: S100, establishing an information transmission network and carrying out data acquisition; s200, carrying out coordinate conversion on the collected real-time longitude and latitude information of the ship and the vehicle, and calculating a relative distance between the ship and the vehicle; s300, calculating a ship offset area of the mining system, calculating an allowable offset of a mining ship relative to a mining vehicle, dividing operation states according to the offset, and determining a reasonable ship offset area map; and S400, the ship deviation safety early warning area is built in a system early warning program, monitoring data are read at regular time, monitoring information such as environment monitoring information, ship-vehicle distance and the like and umbilical cable length monitoring information are read in real time, and the ship deviation state is judged in real time according to the ship deviation safety area.

The utility model belongs to the technical field of cables, and particularly relates to a dynamic composite cable for deep sea operation of a diving robot. The cable comprises a central filling member, a composite cable core and a protective layer which are arranged from inside to outside. The composite cable core is arranged on the outer side of the center filling piece and comprises a plurality of power cable cores, auxiliary cable cores and winding wires which are sequentially arranged from inside to outside, the power cable cores are arranged around the center filling piece in the circumferential direction, and gaps between the power cable cores and the protective layer are filled with the auxiliary cable cores in the circumferential direction at intervals; gaps among the power cable core, the auxiliary cable core and the protective layer are filled with winding wires in the circumferential direction at intervals, and the outer side of the winding wires is coated with a semi-conductive layer; the protective layer comprises an armored shielding layer in contact with the semi-conductive layer and an outer sheath layer arranged on the outer side of the armored shielding layer. The utility model is used for solving the problem that the existing umbilical cable is poor in tensile and compression resistance.

The invention relates to the technical field of deepwater umbilical cable temperature monitoring, and provides a deepwater umbilical cable temperature monitoring data processing method and system, which not only can accurately monitor the temperature change of an umbilical cable in real time, but also can improve the accuracy and reliability of the monitoring data and ensure the safe operation of the deepwater umbilical cable in a complex marine environment. Comprising a temperature monitoring host, a data processing unit and an umbilical cable, an optical fiber sensor is arranged in the umbilical cable, and the temperature monitoring host communicates with the optical fiber sensor; the temperature monitoring host comprises a data acquisition unit and a demodulator, the data acquisition unit is used for converting weak light signals transmitted by the optical fiber sensor into electric signals, and the demodulator is used for accurately demodulating temperature information from the electric signals transmitted by the data acquisition unit; the data processing unit is used for receiving the temperature information transmitted by the demodulator and carrying out data processing, and the temperature monitoring host is used for displaying the data information processed by the data processing unit.

The invention relates to the technical field of submarine cables, in particular to an umbilical cable and an umbilical cable punching method. The umbilical cable comprises an inner sheath, an inner layer function unit group, an outer sheath, an outer layer function unit group and an armor layer. The inner layer function unit group is arranged in the inner sheath, the outer layer function unit group is arranged between the inner sheath and the outer sheath, the armor layer comprises an armor sheath and a metal armor, and the metal armor is arranged between the armor sheath and the outer sheath; the outer sheath is provided with a plurality of first water inlet holes at intervals along the length direction, and the armored sheath is provided with a plurality of second water inlet holes at intervals along the length direction. According to the umbilical cable provided by the invention, the plurality of first water inlet holes are formed in the outer sheath at intervals, and the plurality of second water inlet holes are formed in the armored sheath along the length direction at intervals, so that seawater can enter a space in which the outer-layer functional unit group is located through the second water inlet holes and the first water inlet holes in sequence; friction torque between the outer layer function unit group and the outer sheath can be reduced, and birdcage accidents caused by torque accumulation can be avoided.

The invention provides a deepwater semi-submersible drilling platform pressure control drilling MPD control system which comprises a platform rotary table face. A platform wellhead flow divider, a marine riser expansion joint, a marine riser tension ring, a marine riser rotation control pup joint, an MPD hydraulic control pup joint, an MPD marine riser annulus sealing device, a marine riser four-way joint, a drilling marine riser, an underwater blowout preventer set and a seabed underwater wellhead are sequentially connected to the platform rotary table face from top to bottom. The MPD hydraulic control pup joint is connected with a rotary control pup joint power unit through an umbilical cable I, an umbilical cable roller frame I and a cable hose, and the rotary control pup joint power unit is connected with a deepwater MPD electro-hydraulic control system main control station; the MPD marine riser annulus sealing device is connected with the annulus sealing device and the buffer manifold hydraulic power unit through an umbilical cable II, an umbilical cable roller frame II and a cable hose and is connected with the deepwater MPD electro-hydraulic control system master control station; the throttling hydraulic power unit is connected with the deepwater MPD electro-hydraulic control system master control station. According to the system, pressure regulation and control, equipment management and operation safety guarantee in the deepwater pressure-controlled drilling well are realized.

The invention discloses a cooperative control simulation system for an underwater robot and an umbilical cable system, belongs to the technical field of ocean engineering simulation and automatic control, and is used for analyzing system dynamic characteristics in the research and development stage of deep sea operation equipment. Comprising an environment initialization and marine environment construction module, a mother ship model construction module, an underwater robot and umbilical cable coupling module, an instruction generation module, a man-machine interaction control module and a data acquisition and storage module. According to the method, an external interference source with physical authenticity is provided for a control algorithm by combining an energy density function and simulating a composite environment modeling method of a sea level height field and an LOD dynamic grid, and a distributed model prediction control algorithm for uniformly optimizing underwater robot trajectory tracking and umbilical cable tension safety maintenance is constructed; data such as the motion state of the underwater robot and the tension of the umbilical cable can be output in real time, algorithm performance testing is completed in a virtual environment, and dependence on high-cost sea testing is not needed.

The invention provides a sea cucumber culture fishing underwater robot cooperative work system, and the system comprises a fishing boat module which is used as a water surface control center and provides calculation, communication and power support; the plurality of underwater robot modules are used for executing underwater autonomous navigation, target identification, sea cucumber fishing and data acquisition tasks; the umbilical cable collecting and releasing system module is used for collecting, releasing and managing an umbilical cable for connecting the fishing boat and the underwater robot; a cooperative control system module; a balance adjustment system module; according to the invention, through unified task allocation and dynamic path planning of a plurality of underwater robots, by using an improved A * algorithm and a UWB positioning technology, the plurality of robots can efficiently cover an operation area without omission, and the distance is calculated in real time to trigger an obstacle avoidance program, so that the obstacle avoidance efficiency is improved. The problems of low efficiency, repeated fishing, region omission, high collision risk and the like caused by a traditional manual region division or simple wireless communication cooperation mode are solved.

A rotatable paddle wireless power transfer system provides a robust electric power and data connection between a user and a support vehicle or structure adapted for use in harsh environments. A paddle retention clamp such as a pair of sprung circumferential fingers coupled on either side of a gap into a paddle retainer allows the paddle to be easily removably inserted by a user into the retainer, for example with only a single heavily gloved hand. When the paddle is docked in the paddle retainer, the paddle may be easily rotated relative to the retainer, with up to 90 degrees of rotational freedom so as to provide a non-binding disconnect of the paddle from the paddle retainer during normal or emergency disconnects through 360 degrees of force applied by the user to an electrical umbilical cable affixed to the paddle.

The utility model relates to a ship bottom underwater cleaning robot, which belongs to the technical field of underwater operation robots, in particular to the technical field of attitude control of underwater robots, and comprises a rack, a sliding plate, an auxiliary driving wheel, a pitching frame, a main driving wheel, a cavitation jet cleaning disc, a front camera, a rear camera, a vertical propeller, a horizontal propeller, an electric control cabin and an umbilical cable, through the horizontal propeller, the vertical propeller, the sliding plate, the main driving wheel, the auxiliary driving wheel, the controller, the direction instrument and the attitude sensor, the robot can be attached to the bottom of a ship, walk on the complex surface of the bottom of the ship, and stably walk on a steep wall, an uneven surface or a curved surface; ship attachments cleaned by the cavitation jet cleaning disc fall down from the cleaning window, the sliding plate attached to the ship body prevents the cleaning objects from flying around, the cleaning objects are collected in the stock bin to avoid water pollution, and it is guaranteed that camera shooting is clear and not affected.

The invention discloses an anchor chain cleaning and detecting device and an operation method thereof, the anchor chain cleaning and detecting device comprises an overwater system and an underwater system, and the overwater system and the underwater system are connected through an umbilical cable; the underwater system comprises an underwater frame structure, the underwater frame structure comprises an upper connecting assembly and a lower connecting assembly which are connected through a linear driving device, the upper connecting assembly is provided with an upper detection system and an electronic control cabin, and the lower connecting assembly is provided with a high-pressure cleaning device, a lower detection system and a wiring cabin; the upper connecting assembly and the lower connecting assembly are each provided with a clamping mechanism. In the anchor chain detecting and cleaning process, the upper connecting assembly, the linear driving device, the lower connecting assembly and the clamping mechanism form a self-positioning and chain climbing executing mechanism, the self-adaptability is achieved, the robot can adapt to anchor chains of different diameters and materials, the cleaning function is provided while detection is conducted, and the cleaning efficiency is improved. Through the multifunctional integrated design, the operation efficiency is remarkably improved, and the investment of manpower and mechanical equipment is reduced.

The suspended top type releasing and recycling device for the ocean robot comprises a frame body, a first sliding rail device is fixedly connected to the top of the frame body, the first sliding rail device is sequentially and slidably connected with a first mounting frame, a second mounting frame and a traveling block device, the first mounting frame is provided with a first rope guide wheel, and the second mounting frame is provided with a second rope guide wheel; the traveling block device is provided with a third rope guide wheel, a swing stopper and a submarine cable manager; a third sliding rail device is vertically arranged at the bottom of the frame body, and a second sliding rail device is vertically arranged on the second mounting frame close to the traveling block device; the cable storage winch, the friction traction winch, the first rope guide wheel, the second rope guide wheel, the third rope guide wheel, the oscillation stopping device and the submarine cable manager are rotationally connected in sequence through an umbilical cable. According to the suspended top type releasing and recycling device for the ocean robot, the underwater robot is moved to the position close to the water surface or below the water surface by arranging the horizontal track and the vertical track, and the problem of safe releasing and recycling of an ultra-deep water working-stage robot in a limited cabin space is solved.

The invention discloses a seabed shallow casing section thermal insulation structure for polar region supercritical carbon dioxide drilling, which comprises a casing, a thermal insulation coating, a protective coating, an annular cement slurry layer, an electric heating pipe, a sensor module, a wireless conductive module, a ground system and a seabed wireless transmission module, and is characterized in that the electric heating pipe is fixed on the outer wall of the casing through a hoop; the outer wall of the casing pipe is sequentially coated with a heat preservation coating, a protective coating and an annular cement paste layer from inside to outside, the wireless conductive module is integrated at the end of the casing pipe, and the ground system comprises a ground data acquisition system and a ground control center. The sea surface platform is provided with a ground data acquisition system and a ground control center which are connected with the seabed wireless transmission module through an umbilical cable, and temperature and pressure data acquired by the sensor module are uploaded to the ground control center. According to the invention, the problems of rapid heat loss, annular air channeling, casing mechanical property degradation, poor drilling fluid fluidity and the like of the seabed shallow casing section in the polar region extreme low-temperature environment are solved.

The invention discloses an autonomous depth tracking control method for an underwater robot. The method comprises the following steps: S1, constructing a hydrodynamic model and a control module of an underwater robot main body; s2, inputting geometric and physical parameters of the underwater robot main body remotely controlled by the umbilical cable; s3, calculating a stable solution of the underwater robot main body in a steady state; s4, introducing a control action of a control mechanism at a time step n; s5, the hydrodynamic load borne by the underwater robot body and the control force generated by the control mechanism are calculated in the CFD sub-module; s6, solving a main program sub-module of the underwater robot body hydrodynamic model; s7, outputting power parameters of the underwater robot main body and the umbilical cable in the time step n; s8, if the numerical simulation is not completed, enabling n to be equal to n + 1, sending an operation instruction to the control mechanism of the underwater robot in the control sub-module according to an operation task requirement, and returning to S4; otherwise, ending the numerical simulation, and outputting all calculation results. The invention is used for the underwater robot.

The invention discloses a submarine cable inspection method which comprises the following steps: S1, sending a wireless communication instruction from a shore-based console, and remotely controlling an unmanned ship to carry an underwater robot to depart from a berth until a submarine cable inspection sea area; s3, an umbilical cable winch releases an umbilical cable in a self-adaptive mode, the underwater robot dives synchronously, and S4, according to feedback data of a line patrol sensor, the underwater robot is controlled to move forward along with the wiring track of the submarine cable, and the underwater robot is controlled to move forward along with the wiring track of the submarine cable. S5, the underwater robot floats upwards and is recycled, and the unmanned ship returns to a berth for berthing, so that an operator does not need to be arranged on the ship, adverse effects of severe sea conditions on personnel on the ship are avoided, and the safety of the underwater robot is improved. And the inspection flexibility of the submarine cable and the accuracy of the inspection result can be ensured.

The invention relates to a parameter determination method of a deep-sea umbilical cable unit and a deep-sea umbilical cable, and the method comprises the steps: inputting a plurality of provided insulating layer alternative parameters of the deep-sea umbilical cable unit into a preset resistance distribution model of the deep-sea umbilical cable unit, and determining the resistance distribution corresponding to each insulating layer alternative parameter; according to the distribution of the resistors and a preset electric field distribution model, the electric field distribution uniformity corresponding to the alternative parameters of the insulating layers can be determined, the alternative parameter of the insulating layer with the minimum electric field distribution uniformity in the electric field distribution uniformity is selected as a target insulation parameter, and the deep-sea umbilical cable unit is prepared according to the target insulation parameter. Therefore, the insulating layer parameters corresponding to the optimal electric field distribution can be determined in the design stage, the design and determination process of the deep sea umbilical cable unit is greatly simplified, and the working performance of the deep sea umbilical cable unit is improved.

The utility model discloses a water surface and underwater integrated robot detection suite which comprises a water surface unmanned ship assembly and an underwater robot assembly. Two electric control bins, a network bridge, a wireless data radio and a satellite compass are arranged on the upper portion of the rear end of a hull frame of the water surface unmanned ship assembly, two propellers are installed at the bottom of the rear end, three ultrasonic transducers are triangularly arranged on the plane of the bottom, an underwater robot winding and unwinding mechanism comprising a cage is arranged in the middle of the hull frame, and an umbilical cable winding and unwinding mechanism and a ball machine are arranged at the front end of the hull frame. A take-up turntable and a pay-off roller are arranged in the umbilical cable take-up and pay-off mechanism and connected with the zero-buoyancy umbilical cable; an ultrasonic transducer and a relative positioning box are fixed to the top of a frame of the underwater robot assembly, and eight propellers are installed in the underwater robot assembly. The water surface unmanned ship assembly and the underwater robot assembly are connected through a zero-buoyancy umbilical cable, and communication, power transmission and collaborative operation are achieved. The detection suite is low in operation difficulty, can effectively improve the inspection accuracy, is suitable for various water area environments, and efficiently completes the detection operation.

The invention belongs to the field of power equipment, and particularly relates to a double-layer winding drum capstan and winch facilitating heat dissipation of an umbilical cable, which comprises a frame body, an inner-layer winding drum, an outer-layer winding drum and a locking mechanism, a rotating mechanism is arranged at one end of the frame body, a clutch is arranged at the other end of the frame body and connected with an external driving rotating device, and a spraying pipe is arranged on the frame body; one end of the inner-layer winding drum is connected with the rotating mechanism, and the other end of the inner-layer winding drum is rotationally connected with a lead screw through a fixed shaft; the outer-layer winding drum movably sleeves the inner-layer winding drum and is in threaded connection with the lead screw, and a heat dissipation interval is formed between the outer-layer winding drum and the inner-layer winding drum; and the locking mechanism is used for locking and fixing after the inner-layer winding drum and the outer-layer winding drum are overlapped. Due to the fact that the heat dissipation interval is formed between the outer-layer winding drum and the inner-layer winding drum, heat dissipation efficiency can be improved, water sprayed out of the spraying pipe can be sprayed to the outer-layer winding drum and can also enter the heat dissipation interval, and the heat dissipation efficiency is further improved.