CN104787274A - Submarine cable motion detector and control method thereof - Google Patents
Submarine cable motion detector and control method thereof Download PDFInfo
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- CN104787274A CN104787274A CN201510242863.4A CN201510242863A CN104787274A CN 104787274 A CN104787274 A CN 104787274A CN 201510242863 A CN201510242863 A CN 201510242863A CN 104787274 A CN104787274 A CN 104787274A
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- 238000001931 thermography Methods 0.000 claims abstract description 10
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Abstract
The invention relates to a submarine cable motion detector and a control method thereof and belongs to the field of electrical appliance detection. The detector comprises a main cabin and a manipulator, wherein the manipulator is fixed below the main cabin through connecting and is connected onto a cable through snapping, a controller, a current leakage detection module, an infrared thermal imaging camera, a gravity adjustment module and a distress signal module are mounted in the main cabin, both the current leakage detection module and the infrared thermal imaging camera are connected with a signal input terminal of the controller, and an output terminal of the controller is connected with the gravity adjustment module and the distress signal module. According to the detector provided by the invention, the manipulator can be snapped onto the cable and can move along the cable so as to carry out real-time detection on the current leakage condition and corrosion condition for the cable. Meanwhile, whether the condition of cable breaking exists or not is judged, and if the condition of cable breaking exists, the detector can loosen the cable, float on the water and send out a distress signal, so that the problems in the prior art that submarine cable detection is not timely and the positioning of broken cables is difficult are solved.
Description
Technical field
The invention belongs to Electrical Testing field, particularly relate to a kind of submarine cable motion detector and control method thereof.
Background technology
China coastline reaches 3. 2 ten thousand kilometers, large small island has more than 6500, territorial waters area about 4,730,000 square kilometres, offshore work platform is numerous, and submarine cable plays a crucial role in the productive life of remote power feeding, high voltage power transmission, power communication, Signal transmissions, guarantee islander and offshore work platform are normally run.
Owing to being subject to the factors such as the washing away of seawater, erosion, easily cause the aging of insulation of submarine cable, block-water performance to be deteriorated, make submarine cable produce drain current, thus cause submarine cable to raise in the temperature of fault point, and then cause larger fault, and such as: ground short circuit fault etc.The change of submarine cable load current, also the temperature of submarine cable can be made to change, namely the change of submarine cable temperature can reflect the operation conditions of submarine cable, run in the range of temperatures of safety for making submarine cable, extend submarine cable service life, be necessary to carry out daily monitoring maintenance to submarine cable health status.
Along with the increase day by day of ocean exploitation activity, cultivation in marine site, fishing net, ship anchor etc. can not be ignored the impact that extra large cable runs, and under traditional approach, fallen anchor, cast anchor, cannot early warning when fishery is fished for, ship pulls, bank base operation etc. destroys, difficulty is salvaged to the confirmation of the accurate location of accident point and accident ship and disconnected cable head, have impact on break service and adjustment of loss.Therefore study new mode, the new tool of submarine cable health monitoring, for guaranteeing power network safety operation, build strong intelligent grid and have very important significance.
Summary of the invention
Detect not in time to overcome submarine cable in prior art, the deficiency of disconnected cable location difficulty, the invention provides a kind of submarine cable motion detector and control method thereof.
Technical scheme of the present invention is: a kind of submarine cable motion detector, described detector comprises main cabin and manipulator, manipulator is fastened on below main cabin and is connected together on cable, controller, detection of electrical leakage module, infrared thermal imaging camera, gravity adjusting module and distress signal module are installed in main cabin, the signal input part of detection of electrical leakage module and the equal connection control device of infrared thermal imaging camera, the mouth of controller connects gravity adjusting module and distress signal module.The shell of described main cabin and manipulator adopts corrosion-resistant steel and alloy double layer material, and surface scribbles anti fouling composition.Described main cabin is fleetline submersible profile.Described manipulator comprises articulations digitorum manus and connecting arm, and articulations digitorum manus electrical connection controller, connecting arm is fixed on below main cabin.Described detector also comprises range cells, and range cells is arranged in main cabin, connection control device.Described controller comprises the signal storage of the signal that memory controller receives, signal storage connection control device.State gravity adjusting module and be positioned at main cabin afterbody, adopt hydraulic pressure regulative mode.
A control method for submarine cable motion detector, described method step comprises: step one, manipulator add and be held on submarine cable line; Step 2, detector move along cable, and gather graphicinformation and the electric leakage information of cable, the information collected is sent to controller; Whether the information received preserved by step 3, controller, leak electricity according to the threshold decision cable that controller is arranged; If step 4 cable leaks electricity, controller is recorded the range information of cable and is sent electric leakage alarm signal, judges that whether cable skin is impaired; If step 5 cable top layer is seriously impaired, controller is recorded the range information of cable and is sent impaired alarm signal, judges manipulator whether on cable, detector proper motion; If step 6 detector motion is obstructed or mal motion, analyzes the image collected, judge whether cable breaks; If step 7 cable breaks, controller sends and unclamps instruction, and manipulator unclamps, and detector swims in the water surface, and controller sends emergency wireless signal.
In described method, the manipulator method be arranged on cable comprises and is manually fixed at cable or is electronicly fixed on cable.In described method step, detector run be by conjunction with Buoyance adjustment gravity in thalassogenic movement.
The present invention has following good effect: submarine cable motion detector provided by the invention, is provided with manipulator and can be fastened on cable and moves along cable in detector, detects in real time the leak source situation of cable and corrosion condition.Judge whether in broken string situation, if broken string situation, detector can swim on the water surface by releases cable line, and sends an SOS simultaneously.
Accompanying drawing explanation
Fig. 1 is the operating diagram of submarine cable motion detector in the present invention;
Fig. 2 is the work structuring block diagram of submarine cable motion detector in the present invention;
Fig. 3 is the workflow diagram of the control method of submarine cable motion detector in the present invention;
Fig. 4 is the schematic diagram of the manipulator of submarine cable motion detector in the present invention;
In figure, 1 is main cabin, and 2 is manipulator, and 3 is screw propeller, and 4 is cable, and 5 is articulations digitorum manus, and 6 is connecting arm, and 7 is that articulations digitorum manus is outer, and 8 is articulations digitorum manus internal layer.
Detailed description of the invention
Contrast accompanying drawing below, by the description to embodiment, the specific embodiment of the present invention is as the effect of the mutual alignment between the shape of involved each component, structure, each several part and annexation, each several part and principle of work, manufacturing process and operation using method etc., be described in further detail, have more complete, accurate and deep understanding to help those skilled in the art to inventive concept of the present invention, technical scheme.
Submarine cable motion detector, as shown in Figure 1, the body contours of this detector is the main cabin 1 of fleetline submersible model, detector also comprises the manipulator 2 being used for for a pair being fastened on cable 4, guide the sense of motion of detector, manipulator 2 is positioned at below the main cabin 1 of submersible model, and manipulator 2 is fastened on main cabin 1.Detector also comprises detection of electrical leakage module, infrared thermal imaging camera, gravity adjusting module, distress signal module and controller, these circuit modules are all placed in main cabin 1, model shell thickeies stiffened shell, the shell of main cabin 1 and manipulator 2 all adopts corrosion-resistant steel and copper alloy double layer material, surface scribbles anti fouling composition, be beneficial to like this and increase the sensors work time, reduce damaged probability.
Detection of electrical leakage module and infrared thermal imaging camera are connected to controller, and the signal collected is sent to controller, and controller judges that output command is to gravity adjusting module and distress signal module.Whether detection of electrical leakage module is used for check cable line 4 and leaks electricity, detection signal is issued controller and is carried out processing and judging, if electric leakage signal detected, signal storage is provided with in controller, the data of detection of electrical leakage are all kept in signal storage, danger of hazardous electrical discharges signal is also stored, and time submarine cable motion detector is recovered by the time, sends electric leakage signal warning.Also be provided with range cells in detector and be connected to controller, when electric leakage signal being detected, the result of range cells recorded by controller while recording danger of hazardous electrical discharges signal, and convenient for maintaining personnel fix a point to keep in repair.Infrared thermal imaging camera is in the motion process of detector, take the shell situation of cable, accumulating graphicinformation is kept in signal storage, the normal image signal extracted in controller in signal storage is carried out preliminary signals with the signal detected and is compared, note abnormalities the place of signal, records graphicinformation and range information forms cable jacket warning signal.
Gravity adjusting module connection control device, according to buoyancy and the cable tension be subject to, balances in the overall hand of gravity adjusting module adjustment detector, remains on above or below cable, promote detector motion.Be provided with power plant module and screw propeller 3 in detector, the afterbody that screw propeller 3 is arranged on the main cabin 1 of submersible model connects power plant module, and the powered detector that the rotation of current provides in conjunction with power plant module moves along cable 4.
The manipulator 2 of detector is electrically connected to controller, and manipulator 2 is fastened on cable 4, ensures that detector moves along cable.Manipulator 2 comprises articulations digitorum manus 5 and connecting arm 6, and the electric wire for being electrically connected is hidden in articulations digitorum manus 5 and connecting arm 6 is inner, and manipulator 2 adopts steel structure, and manipulator 2 top layer all scribbles anticorrosive paint, reaches anticorrosion firmly durable effect.Manipulator 2 is affixed to below main cabin by connecting arm, in order to increase the safe handling duration of manipulator, manipulator adopts double-decker equally, articulations digitorum manus 5 is made up of articulations digitorum manus outer 7 and articulations digitorum manus internal layer 8, outer 7 and internal layer 8 all adopt corrosion-resistant steel or the large metal of other withstanding corrosion hardness to be made.
When the situation of broken string appears in cable 4, manipulator 2 just cannot orbiting, and midway is forced to stopping, and now, controller receives manipulator 2 danger signal, will issue instructions to manipulator 2, and manipulator 2 is opened automatically.Controller is by issuing instructions to gravity adjusting module, and gravity adjusting module, by the overall gravity size of adjustment detector, ensures that detector emerges.Controller also sends instruction to distress signal module while short-term signal being detected, the cable distance information of range cells when real time recording controller receives alarm signal always, distress signal module sends emergency wireless signal, wait for that staff finds recycling machine of coming, staff just can recognize broken string situation and broken string distance according to the distress signal content that controller sends, and the data read in signal storage carry out the analysis of cable signal simultaneously.
A control method for submarine cable motion detector, method step comprises:
Step one, manipulator add and are held on submarine cable line, and the manipulator method be arranged on cable comprises and is manually fixed at cable or is electronicly fixed on cable.
Step 2, detector move along cable, gather graphicinformation and the electric leakage information of cable, the information collected is sent to controller, and detector is carried out information acquisition by the leak source detection module installed in main cabin and infrared thermal imaging camera and sent to controller.
Whether the information received preserved by step 3, controller, leak electricity according to the threshold decision cable that controller is arranged.
If step 4 cable leaks electricity, controller is recorded the range information of cable and is sent electric leakage alarm signal, continues to judge that whether cable skin is impaired; If cable state is normal, be also continue to judge that whether cable skin is impaired.
Step 5, if cable top layer is seriously impaired, controller is recorded the range information of cable and is sent impaired alarm signal, judges manipulator whether on cable, detector proper motion.
Step 6, if detector motion is obstructed or mal motion, analyzes the image collected, judges whether cable breaks.
Step 7, if cable broken string, controller sends and unclamps instruction, manipulator unclamps, and detector swims in the water surface, and controller sends emergency wireless signal, detector adjusts the water volume in main cabin by gravity adjusting module, by buoyancy, detector is swum on the water surface.
Above by reference to the accompanying drawings to invention has been exemplary description; obvious specific implementation of the present invention is not subject to the restrictions described above; as long as have employed the improvement of the various unsubstantialities that method of the present invention is conceived and technical scheme is carried out; or design of the present invention and technical scheme directly applied to other occasion, all within protection scope of the present invention without to improve.
Claims (10)
1. a submarine cable motion detector, it is characterized in that, described detector comprises main cabin and manipulator, manipulator is fastened on below main cabin and is connected together on cable, controller, detection of electrical leakage module, infrared thermal imaging camera, gravity adjusting module and distress signal module are installed in main cabin, the signal input part of detection of electrical leakage module and the equal connection control device of infrared thermal imaging camera, the mouth of controller connects gravity adjusting module and distress signal module.
2. submarine cable motion detector according to claim 1, is characterized in that, the shell of described main cabin and manipulator adopts corrosion-resistant steel and copper alloy double layer material, and surface scribbles anti fouling composition.
3. submarine cable motion detector according to claim 1, is characterized in that, described main cabin is fleetline submersible profile.
4. submarine cable motion detector according to claim 1, is characterized in that, described manipulator comprises articulations digitorum manus and connecting arm, and articulations digitorum manus electrical connection controller, connecting arm is fixed on below main cabin.
5. submarine cable motion detector according to claim 1, is characterized in that, described detector also comprises range cells, and range cells is arranged in main cabin, connection control device.
6. submarine cable motion detector according to claim 1, is characterized in that, described controller comprises the signal storage of the signal that memory controller receives, signal storage connection control device.
7. submarine cable motion detector according to claim 1, is characterized in that, described gravity adjusting module is positioned at main cabin afterbody, adopts hydraulic pressure regulative mode.
8. the control method of a kind of submarine cable motion detector according to claim 1, it is characterized in that, described method step comprises:
Step one, manipulator add and are held on submarine cable line;
Step 2, detector move along cable, and gather graphicinformation and the electric leakage information of cable, the information collected is sent to controller;
Whether the information received preserved by step 3, controller, leak electricity according to the threshold decision cable that controller is arranged;
If step 4 cable leaks electricity, controller is recorded the range information of cable and is sent electric leakage alarm signal, judges that whether cable skin is impaired;
If step 5 cable top layer is seriously impaired, controller is recorded the range information of cable and is sent impaired alarm signal, judges manipulator whether on cable, detector proper motion;
If step 6 detector motion is obstructed or mal motion, analyzes the image collected, judge whether cable breaks;
If step 7 cable breaks, controller sends and unclamps instruction, and manipulator unclamps, and detector swims in the water surface, and controller sends emergency wireless signal.
9. control method according to claim 8, is characterized in that, in described method, the manipulator method be arranged on cable comprises and is manually fixed at cable or is electronicly fixed on cable.
10. control method according to claim 8, is characterized in that, in described method step, detector run be by conjunction with Buoyance adjustment gravity in thalassogenic movement.
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| CN201510242863.4A CN104787274B (en) | 2015-05-14 | 2015-05-14 | submarine cable motion detector and control method thereof |
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| CN201510242863.4A CN104787274B (en) | 2015-05-14 | 2015-05-14 | submarine cable motion detector and control method thereof |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106443366A (en) * | 2016-12-16 | 2017-02-22 | 浙江海洋大学东海科学技术学院 | Submarine cable maintenance device |
| CN106627985A (en) * | 2016-10-28 | 2017-05-10 | 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） | Subsea pipeline in-situ overhaul bin |
| CN107631742A (en) * | 2017-09-07 | 2018-01-26 | 浙江省海洋开发研究院 | The underwater mechanism for installing of sensor |
| CN107697246A (en) * | 2017-09-07 | 2018-02-16 | 浙江省海洋开发研究院 | Underwater cable on-line monitoring mechanism |
| CN108375625A (en) * | 2018-02-06 | 2018-08-07 | 中国海洋大学 | A kind of the jacket Corrosion monitoring equipment and corrosion detecting method of no magnetic interference |
| CN108482618A (en) * | 2018-02-06 | 2018-09-04 | 青岛远创机器人自动化有限公司 | A kind of jacket Corrosion monitoring climbing robot of no magnetic interference |
| CN108680828A (en) * | 2018-06-13 | 2018-10-19 | 仝相宝 | A kind of submarine cable Measuring error system based on robot |
| CN111422330A (en) * | 2020-03-17 | 2020-07-17 | 国网山东省电力公司青岛市黄岛区供电公司 | Magnetic force couple formula seabed is carried cable device |
| CN113176002A (en) * | 2021-06-11 | 2021-07-27 | 国网山东省电力公司德州供电公司 | Monitoring devices for fire control based on power cable |
| CN116142426A (en) * | 2023-02-28 | 2023-05-23 | 青岛海洋地质研究所 | Underwater pipeline monitoring method based on deepwater submersible vehicle |
| CN117810874A (en) * | 2024-01-02 | 2024-04-02 | 江苏亨通高压海缆有限公司 | Submarine cable continuous connection rush-repair device |
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Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106627985A (en) * | 2016-10-28 | 2017-05-10 | 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） | Subsea pipeline in-situ overhaul bin |
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| CN108375625B (en) * | 2018-02-06 | 2023-08-15 | 中国海洋大学 | Jacket corrosion detection equipment without magnetic field interference and corrosion detection method |
| CN108482618A (en) * | 2018-02-06 | 2018-09-04 | 青岛远创机器人自动化有限公司 | A kind of jacket Corrosion monitoring climbing robot of no magnetic interference |
| CN108375625A (en) * | 2018-02-06 | 2018-08-07 | 中国海洋大学 | A kind of the jacket Corrosion monitoring equipment and corrosion detecting method of no magnetic interference |
| CN108680828A (en) * | 2018-06-13 | 2018-10-19 | 仝相宝 | A kind of submarine cable Measuring error system based on robot |
| CN111422330A (en) * | 2020-03-17 | 2020-07-17 | 国网山东省电力公司青岛市黄岛区供电公司 | Magnetic force couple formula seabed is carried cable device |
| CN111422330B (en) * | 2020-03-17 | 2022-02-25 | 国网山东省电力公司青岛市黄岛区供电公司 | Magnetic force couple formula seabed is carried cable device |
| CN113176002A (en) * | 2021-06-11 | 2021-07-27 | 国网山东省电力公司德州供电公司 | Monitoring devices for fire control based on power cable |
| CN116142426A (en) * | 2023-02-28 | 2023-05-23 | 青岛海洋地质研究所 | Underwater pipeline monitoring method based on deepwater submersible vehicle |
| CN116142426B (en) * | 2023-02-28 | 2023-08-29 | 青岛海洋地质研究所 | Underwater pipeline monitoring method based on deepwater submersible vehicle |
| CN117810874A (en) * | 2024-01-02 | 2024-04-02 | 江苏亨通高压海缆有限公司 | Submarine cable continuous connection rush-repair device |
| CN117810874B (en) * | 2024-01-02 | 2024-07-12 | 江苏亨通高压海缆有限公司 | Submarine cable continuous connection rush-repair device |
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