Submarine Cable Detection via Underwater Robot Magnetometers
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Solution Overview
Problem
Existing methods for detecting submarine cables are unreliable due to interference from complex background fields, limited acoustic detection resolution, and the need for manual observation or switching between different underwater robot modes.
Innovation Solution
A geomagnetic detection method using an underwater robot equipped with a proton magnetometer and two fluxgate magnetometers, which performs preliminary, route, and patrol detections to accurately locate and identify submarine cables and faults.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If optical methods are used for detection, then the detection process is simple, but the method does not work well because submarine cables are mostly laid below the surface of the seabed
Solution Approach 1:
The patent replaces optical detection methods with acoustic detection methods. Acoustic waves can penetrate the seabed and detect subsurface objects, making the detection effective for buried cables while maintaining operational simplicity through automated robot-based inspection.
Solution Approach 2:
The patent changes the detection parameter from optical to acoustic. By using acoustic waves with appropriate frequency and penetration depth, the system can detect cables at various burial depths, resolving the contradiction between simplicity and effectiveness.
2Reliability
If acoustic detection is used, then subsurface detection is possible, but the detection resolution is limited due to the limited diameter of the cable
Solution Approach 1:
The patent introduces magnetic field detection as an intermediary method. Magnetic sensors detect the magnetic field generated by current-carrying cables, providing high-resolution detection that overcomes the resolution limitations of acoustic methods while maintaining subsurface detection capability.
Solution Approach 2:
The patent combines acoustic detection with magnetic field detection. The magnetic detection component provides high-resolution measurements of cable position and characteristics, compensating for the resolution limitations of acoustic methods.
3Reliability
If geomagnetic anomaly field inversion is used, then the method is most potential for detecting buried cables, but the signal is interfered by the complex background field resulting in low reliability
Solution Approach 1:
The patent extracts the magnetic signal component related to the cable from the complex background field. By using differential measurement techniques and focusing on localized magnetic anomalies, the system isolates the cable signal from broader geological magnetic variations.
Solution Approach 2:
The patent employs real-time signal processing and filtering that uses feedback from the detected magnetic field patterns. The system continuously adjusts its detection parameters based on background field characteristics, improving signal-to-noise ratio and reliability by distinguishing cable-related anomalies from background interference.
4Measurement precision
If underwater robot with multiple magnetometers is used, then detection accuracy is improved, but the device complexity increases
Solution Approach 1:
The patent segments the detection function into multiple specialized magnetometers positioned at different locations on the robot. Each sensor has a specific function (e.g., total field measurement, gradient measurement), and the data from each segment is processed independently and combined to achieve high-precision three-dimensional localization.
Solution Approach 2:
The patent designs the magnetometer array to serve multiple functions: cable detection, fault localization, depth measurement, and orientation determination. This multi-functionality justifies the increased device complexity by providing comprehensive detection capabilities from a single integrated system.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The method achieves high reliability in fault detection by real-time correction of cable position based on geomagnetic information, ensuring accurate detection and simple realization.
Implementation Method 1
performing a preliminary detection by controlling an underwater robot equipped with a proton magnetometer; determining a preliminary direction and a preliminary location of the cable based on preliminary detection information including underwater positioning data and a general geomagnetic field
Implementation Method 2
controlling a heading of the underwater robot to move along the preliminary direction of the cable, based on an X-axis component gradient value obtained by the two fluxgate magnetometers
Data Source
AI summary
Embodiments provide a method for geomagnetically detecting a submarine cable, including: performing a preliminary detection by controlling an underwater robot equipped with a proton magnetometer; determining a preliminary direction and location of the cable based on preliminary detection information; controlling the underwater robot equipped with the proton magnetometer and two fluxgate magnetometers to launch into the water; controlling the underwater robot to travel over the cable and determining specific location information of the cable; controlling a heading of the underwater robot to move along the preliminary direction of the cable; and controlling the underwater robot equipped with the proton magnetometer and the two fluxgate magnetometers to launch into the water; determining whether a fault in the submarine cable occurs and a location of a fault point, based on Z-axis components of the general geomagnetic field and launching depth data of the underwater robot.