CN108649479B - Hidden intelligent protection system based on submarine cable - Google Patents
Hidden intelligent protection system based on submarine cable Download PDFInfo
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- CN108649479B CN108649479B CN201810605494.4A CN201810605494A CN108649479B CN 108649479 B CN108649479 B CN 108649479B CN 201810605494 A CN201810605494 A CN 201810605494A CN 108649479 B CN108649479 B CN 108649479B
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
Abstract
A hidden intelligent protection system based on submarine cables comprises a protection telescopic channel, a protection telescopic hydraulic pump, a protection telescopic hydraulic rod and a protection telescopic plate, wherein a partition device comprises a partition channel, a partition hydraulic pump, a partition hydraulic rod, a partition protection plate, a conflict channel, a conflict hydraulic pump, a conflict hydraulic rod, a partition telescopic plate, a waterproof driving motor and a waterproof touch plate, the repair device comprises an underwater repair robot, a cutting mechanical arm, a spraying mechanical arm, a repair driving motor, a repair touch plate and a waterproof splicing mechanism, the storage device comprises a robot storage bin, a glue conduit and a heating layer, the drainage device comprises a first suction pipeline, a second suction pipeline, first drainage equipment and second drainage equipment, the identification device comprises a first camera, a second camera, a third camera and a cable fault detector, the processing unit comprises a first processing unit and a second processing unit, and the wireless device is arranged in the second processing unit.
Description
Technical Field
The invention relates to the field of submarine cables, in particular to a hidden intelligent protection system based on submarine cables.
Background
The development of offshore energy sources such as offshore wind power and the like promotes the formation of an offshore power transmission network, and the high-voltage submarine power cable has wider and wider application space and mainly comprises offshore wind power transmission, power supply of an offshore oil and gas platform, island networking, coastal national networking and the like. As the most important equipment in offshore power transmission networks, the safe operation of submarine cables is very important for power systems.
Submarine cables are wires wrapped with insulating materials and laid on the seabed for power and information transmission. And can be divided into power cables, photoelectric composite cables, communication optical cables and the like according to the application. In recent years, photoelectric composite submarine power cables (abbreviated as photoelectric composite submarine cables) are gradually popularized in the fields of power transmission and data communication. The novel submarine cable combines the cable and the optical cable together, and simultaneously transmits electric energy and data, thereby saving cost, reducing the times of cable laying construction, and being favored in cross-sea power transmission and communication application between shallow islands; with the increase of sea islands and the continuous expansion of the development scale of ocean resources, more and more submarine cables need to be laid, and due to the influence of factors such as construction facilities, construction technologies, high-load operation of the cables, complex geological structures of sea areas, complex operation environments of the sea and the like, faults such as open circuit, short circuit and the like of the submarine cables in operation due to local accidental stress often occur, so that huge economic loss is brought. The social impact and economic loss caused by submarine cable faults are large, and the submarine cable must be repaired as soon as possible.
However, how to combine the robot with the submarine cable repair is a problem which is urgently needed to be solved at present, after a fault occurs in a submarine cable region, the fault region of the submarine cable is timely isolated, the underwater repair robot of the fault region is controlled to start, and then the fault region of the submarine cable is isolated and liquid is extracted for repair.
Disclosure of Invention
The purpose of the invention is as follows: in order to overcome the defects in the background art, the embodiment of the invention provides a submarine cable-based hidden intelligent protection system, which can effectively solve the problems related to the background art.
The technical scheme is as follows:
a hidden intelligent protection system based on submarine cables comprises a cable placement device, a telescopic device, a partition device, a repair device, a storage device, a drainage device, an identification device, a processing device and a wireless device, wherein the cable placement device comprises a cable trench, an antirust iron platform, an adsorption base and an underwater guide robot, and the cable trench is a submarine tunnel for placing the submarine cables, which is caused by a cable embedding mechanism; the rust-proof iron platforms are provided with a plurality of rust-proof iron platforms, are laid and fixed at the bottom end positions in the cable trench and are used for being adsorbed with the adsorption base; the adsorption bases are arranged at a plurality of positions on the surface below the submarine cable, are connected with the submarine cable and are used for being electromagnetically adsorbed on the rust-proof iron platform; the underwater guiding robot is arranged at the front end of the submarine cable, is connected with the front end of the submarine cable, and is used for guiding the connected submarine cable to be placed in the cable trench; the telescopic device comprises a plurality of protective telescopic channels, a protective telescopic hydraulic pump, a protective telescopic hydraulic rod and a protective telescopic plate, wherein the protective telescopic channels are arranged at the two sides of the cable trench and used for providing the telescopic of the protective telescopic plate; the number of the protective telescopic hydraulic pumps is consistent with that of the protective telescopic channels, the protective telescopic hydraulic pumps are arranged in the protective telescopic channels, and the protective telescopic hydraulic pumps are respectively connected with the protective telescopic channels and the protective telescopic hydraulic rods and used for driving the connected protective telescopic hydraulic rods to stretch; the number of the protective telescopic hydraulic rods is consistent with that of the protective telescopic hydraulic pumps, the protective telescopic hydraulic rods are arranged at the inner positions of the protective telescopic channels, and the protective telescopic hydraulic rods are respectively connected with the protective telescopic hydraulic pumps and the protective telescopic plates and used for driving the connected protective telescopic plates to stretch; the number of the protection telescopic plates is consistent with that of the protection telescopic hydraulic rods, the protection telescopic plates are arranged at the front end of the protection telescopic hydraulic rods and connected with the protection telescopic rods for protecting submarine cables; the partition device comprises a partition passage, a partition hydraulic pump, a partition hydraulic rod, a partition protection plate, a collision passage, a collision hydraulic pump, a collision hydraulic rod, a partition expansion plate, a waterproof driving motor and a waterproof touch plate, wherein the partition passage is provided with a plurality of partition passages, is arranged at the side position of the protection expansion passage and is used for providing expansion of the partition protection plate; the number of the partition hydraulic pumps is consistent with that of the partition channels, the partition hydraulic pumps are arranged in the partition channels, and the partition hydraulic pumps are respectively connected with the partition channels and the partition hydraulic rods and used for driving the connected partition hydraulic rods to stretch; the number of the partition hydraulic rods is consistent with that of the partition hydraulic pumps, the partition hydraulic rods are arranged at the inner positions of the partition passages, and the partition hydraulic rods are respectively connected with the partition hydraulic pumps and the partition protection plates and used for driving the connected partition protection plates to stretch; the number of the partition protection plates is consistent with that of the partition hydraulic rods, the partition protection plates are arranged at the front end of the partition hydraulic rods and connected with the partition hydraulic rods to protect submarine cables; the number of the conflict passages is consistent with that of the partition protection plates, and the conflict passages are arranged in the partition protection plates and used for providing the partition expansion plates to expand; the number of the conflict hydraulic pumps is consistent with that of the conflict channels, the conflict hydraulic pumps are arranged in the conflict channels, and the conflict hydraulic pumps are respectively connected with the conflict channels and the conflict hydraulic rods and used for driving the connected conflict hydraulic rods to stretch and retract; the number of the conflict hydraulic rods is consistent with that of the conflict hydraulic pumps, the conflict hydraulic rods are arranged in the conflict channel, and the conflict hydraulic rods and the partition expansion plates are respectively connected with the conflict hydraulic pumps and the partition expansion plates and used for driving the connected partition expansion plates to expand and contract; the number of the partition expansion plates is consistent with that of the collision hydraulic rods, the partition expansion plates are arranged at the front ends of the collision hydraulic rods and connected with the collision hydraulic rods to protect submarine cables; the number of the waterproof driving motors is consistent with that of the partition expansion plates, the waterproof driving motors are arranged at the inner positions below the partition expansion plates, and the waterproof driving motors are respectively connected with the partition expansion plates and the waterproof touch plates and are used for driving the connected waterproof touch plates to expand and contract; the number of the waterproof touch plates is consistent with that of the protection driving motors, the waterproof touch plates are arranged at the surface positions below the waterproof touch plates, and the waterproof touch plates are connected with the waterproof driving motors and wrapped with partition waterproof layers; the repairing device comprises underwater repairing robots, a cutting mechanical arm, a spraying mechanical arm, a repairing driving motor, a repairing touch plate and a waterproof splicing mechanism, wherein the underwater repairing robots are provided with a plurality of repairing touch plates and used for repairing faults of submarine cables; the cutting mechanical arm is a telescopic mechanical arm provided with cutting equipment, and a plurality of cutting mechanical arms are arranged at the side position of the underwater repairing robot and used for cutting; the spraying mechanical arm is a telescopic mechanical arm provided with a spray head, and the spraying mechanical arm is provided with a plurality of spraying mechanical arms, is arranged at the side position of the underwater robot and is used for spraying waterproof quick-drying glue or waterproof insulating glue for protecting submarine cables; the repairing driving motors are provided with a plurality of repairing driving motors, are arranged at the side positions in the underwater repairing robot, are respectively connected with the underwater repairing robot and the repairing touch plates, and are used for driving the connected repairing touch plates to stretch out and draw back; the number of the repairing collision plates is the same as that of the repairing driving motors, the repairing collision plates are arranged above the side face of the underwater robot, and the repairing collision plates are respectively connected with the repairing driving motors and the waterproof splicing mechanisms and adopt a waterproof design for colliding the connected waterproof splicing mechanisms with the partition protection plate, the partition expansion plate and the protection expansion plate; the number of the waterproof splicing mechanisms is consistent with that of the repairing collision plates, the waterproof splicing mechanisms are arranged on the surface of the repairing collision plate and are used for being hermetically connected with the partition protection plate, the partition expansion plate and the protection expansion plate respectively; the storage device comprises robot storage bins, glue conduits and a heating layer, wherein the number of the robot storage bins is consistent with that of the underwater repairing robots, the robot storage bins are arranged at the side positions of the cable trench and used for storing the underwater repairing robots; the glue storage bins are consistent with the underwater repairing robot in number, are arranged at the inner position of the underwater repairing robot, are respectively connected with the underwater repairing robot and the glue guide pipe and are used for respectively storing waterproof quick-drying glue and waterproof insulating glue; the glue guide pipe is arranged at the inner position of the underwater repairing robot, is consistent with the glue storage bin and the spraying mechanical arms in number respectively, and is used for guiding waterproof quick-drying glue or waterproof insulating glue in the glue storage bin into the connected spraying mechanical arms; the heating layer is arranged on the inner wall of the glue storage bin and is used for heating waterproof quick-drying glue and waterproof insulating glue inside the glue storage bin; the drainage device comprises a first suction pipeline, a second suction pipeline, first drainage equipment and second drainage equipment, wherein the first suction pipeline is provided with a plurality of first suction pipelines, is arranged at the inner wall position of the protective expansion plate, is respectively connected with the protective expansion plate and the first drainage equipment, and is used for sucking seawater in the inner wall space of the protective expansion plate; the second suction pipeline is provided with a plurality of second suction pipelines, is arranged at the outer wall position of the protective expansion plate, is respectively connected with the protective expansion plate and second drainage equipment, and is used for sucking seawater in the outer wall space of the protective expansion plate; the number of the first drainage devices is consistent with that of the first suction pipelines, and the first drainage devices are arranged at the outer wall of the protective expansion plate and used for discharging the seawater sucked by the connected first suction pipelines; the number of the second drainage devices is consistent with that of the second suction pipelines, and the second drainage devices are arranged at the outer wall of the protective expansion plate and used for discharging the seawater sucked by the connected second suction pipelines; the identification device comprises a first camera, a second camera, a third camera and a cable fault detector, wherein the first cameras are provided with a plurality of cameras, are arranged at the side positions of the underwater guiding robot and are used for shooting environmental images around the underwater guiding robot; the second cameras are arranged at the side positions of the underwater repairing robot and are used for shooting the environmental images around the underwater repairing robot; the third cameras are arranged at the surface positions below the underwater repairing robot and are used for shooting the environment images below the underwater repairing robot; the cable fault detector is arranged at the inner position of the submarine cable and used for detecting fault information of the submarine cable; the processing device comprises a first processing unit and a second processing unit, wherein the number of the first processing unit is consistent with that of the underwater repairing robots, the first processing units are arranged at the inner positions of the underwater repairing robots and are used for being connected with the underwater repairing robots, the cutting mechanical arms, the spraying mechanical arms, the repairing driving motors, the waterproof splicing mechanisms, the glue storage bins, the heating layers, the robot storage bins, the glue guide pipes, the heating layers, the wireless devices and the wireless devices respectively and executing set operation; the second processing unit is arranged at the inner position of the submarine cable and is used for executing set operation; the wireless device is arranged in the inner position of the second processing unit and is used for being connected with an adsorption base, an underwater guide robot, a protective telescopic hydraulic pump, a partition hydraulic pump, a conflict hydraulic pump, a waterproof driving motor, a first adsorption pipeline, a second adsorption pipeline, a first drainage device, a second drainage device, a first camera, a cable fault detector, the first processing unit, the second processing unit, external equipment of a submarine cable management department and a network.
As a preferred mode of the invention, the robot protection device further comprises a sealing device, wherein the sealing device comprises a protection sealing motor, a protection sealing plate, a partition sealing motor, a partition sealing plate, a robot sealing motor and a robot sealing plate, the number of the protection sealing motors is consistent with that of the protection telescopic channels, the protection sealing motors are arranged at the side positions of the protection telescopic channels, and the protection sealing motors are respectively connected with the wireless device and the protection sealing plate and are used for driving the connected protection sealing plates to stretch; the protection sealing plates are consistent in number with the protection sealing motors, arranged at the side positions of the protection telescopic channels, respectively connected with the protection sealing motors and the protection telescopic channels, and used for switching on and off the protection telescopic channels; the number of the partition closed motors is consistent with that of the partition passages, the partition closed motors are arranged at the side positions of the partition passages, and the partition closed motors are respectively connected with the wireless devices and the partition closed plates and used for driving the connected partition closed plates to stretch; the number of the partition closing plates is consistent with that of the partition closing motors, the partition closing plates are arranged at the side positions of the partition passages, and the partition passages are respectively connected with the partition closing motors and the partition passages and used for switching connection; the robot sealing motors are consistent in number with the robot storage bins, arranged at the side positions of the robot storage bins, respectively connected with the wireless devices and the robot sealing plates and used for driving the connected robot sealing plates to stretch and retract; the robot sealing plates are consistent in number with the robot sealing motors and arranged at the side positions of the robot storage bin, and are respectively connected with the robot storage bin and the robot sealing motors for switching the robot storage bin.
As a preferred mode of the invention, the underwater repairing robot further comprises a cleaning device, wherein the cleaning device comprises a cleaning channel, a cleaning spray head and a cleaning pipeline, and the cleaning channel is provided with a plurality of cleaning spray heads and arranged at the position below the underwater repairing robot for providing the telescopic cleaning spray heads; the number of the cleaning spray heads is consistent with that of the cleaning channels, the cleaning spray heads are arranged at the inner positions of the cleaning channels, and the cleaning spray heads are respectively connected with the cleaning channels, the first processing unit and the wireless device and are used for spraying seawater for cleaning; the cleaning pipelines are the same in number as the cleaning nozzles, arranged above the underwater repairing robot, connected with the cleaning nozzles and used for sucking seawater above the underwater repairing robot and guiding the seawater into the connected cleaning nozzles.
As a preferred mode of the invention, the cleaning device further comprises waterproof drying grooves and drying equipment, wherein the number of the waterproof drying grooves is consistent with that of the underwater repairing robots, and the waterproof drying grooves are arranged at positions below the underwater repairing robots and used for placing the drying equipment; the number of the drying devices is consistent with that of the waterproof drying grooves, the drying devices are arranged in the waterproof drying grooves, and the drying devices are respectively connected with the underwater repairing robot and the first processing unit and used for providing a drying function.
As a preferred mode of the invention, the sealing device further comprises drying sealing motors and drying sealing plates, wherein the number of the drying motors is consistent with that of the waterproof drying grooves, the drying motors are arranged at the inner positions of the underwater repairing robot at the sides of the waterproof drying grooves, and the drying motors are respectively connected with the underwater repairing robot, the first processing unit and the drying sealing plates and are used for driving the connected drying sealing plates to stretch and retract; the drying sealing plates are consistent in number with the drying sealing motors and are arranged at the inner positions of the underwater repairing robot on the side of the waterproof drying groove, and the drying sealing plates are respectively connected with the waterproof drying groove and the drying sealing motors and used for switching the connected waterproof drying groove.
As a preferable mode of the present invention, the telescopic device further includes a plurality of abutting platforms, and the abutting platforms are disposed at the surface positions above the submarine cables and connected to the submarine cables.
As a preferred mode of the invention, the telescopic device further comprises a collision telescopic motor, a collision telescopic plate, a collision ejection motor and a collision strut, wherein the number of the collision telescopic motors is consistent with that of the collision platforms, the collision telescopic motors are arranged at the inner positions of the collision platforms, and the collision telescopic motors are respectively connected with the collision platforms, the wireless devices and the collision telescopic plate and are used for driving the connected collision telescopic plates to stretch; the number of the conflict telescopic plates is consistent with that of the conflict telescopic motors, the conflict telescopic plates are arranged at the side positions of the conflict platforms, and the conflict telescopic plates are connected with the conflict telescopic motors and used for conflicting with the inner wall of the cable trench; the number of the collision ejection motors is consistent with that of the adsorption bases, the collision ejection motors are arranged in the adsorption bases, and the collision ejection motors are respectively connected with the adsorption bases, the wireless devices and the collision pillars and used for driving the connected collision pillars to eject; the conflict pillar is provided with a plurality of and sets up in adsorbing base side position, and launches the motor with conflicting, stretches out the back for fix with the cable pit inner wall.
As a preferable mode of the present invention, the repairing device further includes an ultrasonic fish-expelling device, and the ultrasonic fish-expelling device is provided with a plurality of fish-expelling devices, is disposed on the upper surface of the collision platform, and is respectively connected to the collision platform and the wireless device, so as to expel fish around the submarine cable.
As a preferred mode of the present invention, the identification device further includes pressure sensors and a fourth camera, the number of the pressure sensors is the same as the number of the adsorption bases, the pressure sensors are disposed at the surface position below the adsorption bases, and the pressure sensors are respectively connected to the adsorption bases and the wireless device, and are configured to acquire pressure information below the adsorption bases; the fourth camera is provided with a plurality of and sets up in adsorbing base side surface position, and is connected with adsorbing base and wireless device respectively for shoot the environment image around the absorption base of connection.
As a preferred mode of the invention, the repairing device further comprises a cable simulation mechanical arm and an optical cable simulation mechanical arm, wherein the cable simulation mechanical arm is provided with a plurality of cable simulation mechanical arms, is arranged above the underwater robot, is respectively connected with the underwater robot and the first processing unit, and is used for simulating a cable to transmit power; the cable simulation mechanical arm is provided with a plurality of cable simulation mechanical arms, arranged above the underwater robot, connected with the underwater robot and the first processing unit respectively, and used for simulating optical fibers to transmit telephone and internet signals.
The invention realizes the following beneficial effects:
1. after the intelligent protection system is started, the underwater guiding robot is controlled to submerge into the submarine to guide and connect the submarine cable to be placed in the cable trench, the adsorption base in contact with the cable trench is controlled to be electromagnetically adsorbed to the rust-proof iron platform of the cable trench, after the submarine cable is laid, the fault information of the cable is detected in real time, the fault area of the submarine cable is protected after the fault information is detected, then the underwater repairing robot is controlled to go to the fault point area of the submarine cable to be isolated to form an isolated area, then the underwater repairing robot extracts seawater in the isolated area and repairs the fault of the submarine cable after the seawater does not exist in the isolated area, so that the submarine cable is repaired in time, the fault loss of the submarine cable is reduced, and meanwhile the repairing efficiency of the submarine cable is improved.
2. When the underwater repairing robot forms a partition area and discharges seawater in the partition area, the underwater repairing robot controls the cleaning nozzle to wash sand and soil of the submarine cable in real time, and controls the drying device to dry moisture in the partition area after cleaning is completed and the seawater in the partition area is discharged, so that the influence of seawater on the repairing effect during repairing of the submarine cable is avoided.
3. After the submarine cable is laid and is abutted against the cable trench, the abutting support is controlled to pop out to abut against the cable trench to fix the submarine cable and the abutting expansion plate is controlled to extend out to abut against the cable trench to secondarily fix the submarine cable, and then the ultrasonic fish driving device is controlled to start, so that the submarine cable is protected from being damaged by fish in real time.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and together with the description, serve to explain the principles of the disclosure. FIG. 1 is a schematic side view of an underwater guidance robot provided in accordance with one example of the present invention;
FIG. 2 is a front cross-sectional view of an underwater repair robot provided in accordance with one example of the present invention;
FIG. 3 is a schematic left side view of an underwater robotic attachment provided in accordance with an example of the present invention;
FIG. 4 is a schematic right side view of an underwater adsorption robot provided by one example of the present invention;
FIG. 5 is a side partial cross-sectional view of the area where the protective telescoping passages and partition passages are provided in accordance with one example of the present invention;
FIG. 6 is a front partial cross-sectional view of the protective telescoping passages, partition passages and cable trenches in accordance with one example of the present invention;
FIG. 7 is a front cross-sectional view of a partition shield in use according to one example of the present invention;
FIG. 8 is a partial top view of the protective telescoping passages, partition passages, cable trenches and the area where the robotic storage bins are located as provided by one example of the present invention;
FIG. 9 is a schematic side view of the placement of a touch platform and a suction base according to one embodiment of the present invention;
FIG. 10 is a schematic diagram of a front side of the placement of a touch platform and a suction base according to an exemplary embodiment of the present invention;
fig. 11 is a connection diagram of an intelligent protection system according to an example of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.
Example one
Referring to fig. 1-8, fig. 11, fig. 1 is a side schematic view of an underwater guidance robot provided in accordance with one example of the present invention; FIG. 2 is a front cross-sectional view of an underwater repair robot provided in accordance with one example of the present invention; FIG. 3 is a schematic left side view of an underwater robotic attachment provided in accordance with an example of the present invention; FIG. 4 is a schematic right side view of an underwater adsorption robot provided by one example of the present invention; FIG. 5 is a side partial cross-sectional view of the area where the protective telescoping passages and partition passages are provided in accordance with one example of the present invention; FIG. 6 is a front partial cross-sectional view of the protective telescoping passages, partition passages and cable trenches in accordance with one example of the present invention; FIG. 7 is a front cross-sectional view of a partition shield in use according to one example of the present invention; FIG. 8 is a partial top view of the protective telescoping passages, partition passages, cable trenches and the area where the robotic storage bins are located as provided by one example of the present invention; fig. 11 is a connection diagram of an intelligent protection system according to an example of the present invention.
Specifically, the embodiment provides a hidden intelligent protection system based on a submarine cable, which comprises a cable placement device 1, a telescopic device 2, a partition device 3, a repair device 4, a storage device 5, a drainage device 6, an identification device 7, a processing device 8 and a wireless device 9, wherein the cable placement device 1 comprises a cable trench 12, an antirust iron platform 13, an adsorption base 14 and an underwater guiding robot 15, and the cable trench 12 is a submarine tunnel for placing the submarine cable caused by a cable embedding mechanism; the rust-proof iron platforms 13 are provided with a plurality of rust-proof iron platforms, are laid and fixed at the bottom end positions inside the cable trench 12 and are used for being adsorbed with the adsorption bases 14; the adsorption bases 14 are arranged at a plurality of positions on the surface below the submarine cable, are connected with the submarine cable and are used for being electromagnetically adsorbed on the antirust iron platform 13; the underwater guiding robot 15 is arranged at the front end of the submarine cable, connected with the front end of the submarine cable, and used for guiding the connected submarine cable to be placed in the cable trench 12; the telescopic device 2 comprises a plurality of protective telescopic channels 20, a protective telescopic hydraulic pump 21, a protective telescopic hydraulic rod 22 and a protective telescopic plate 23, wherein the protective telescopic channels 20 are arranged at two sides of the cable trench 12 and used for providing telescopic of the protective telescopic plate 23; the number of the protective telescopic hydraulic pumps 21 is the same as that of the protective telescopic channels 20, the protective telescopic hydraulic pumps are arranged in the protective telescopic channels 20, and the protective telescopic hydraulic pumps are respectively connected with the protective telescopic channels 20 and the protective telescopic hydraulic rods 22 and used for driving the connected protective telescopic hydraulic rods 22 to stretch; the number of the protective telescopic hydraulic rods 22 is the same as that of the protective telescopic hydraulic pumps 21, the protective telescopic hydraulic rods are arranged in the protective telescopic channel 20, and the protective telescopic hydraulic rods are respectively connected with the protective telescopic hydraulic pumps 21 and the protective telescopic plates 23 and used for driving the connected protective telescopic plates 23 to stretch; the number of the protection telescopic plates 23 is the same as that of the protection telescopic hydraulic rods 22, the protection telescopic plates are arranged at the front end positions of the protection telescopic hydraulic rods 22 and connected with the protection telescopic rods for protecting submarine cables; the partition device 3 comprises a partition passage 30, a partition hydraulic pump 31, a partition hydraulic rod 32, a partition protection plate 33, a collision passage 34, a collision hydraulic pump 35, a collision hydraulic rod 36, a partition expansion plate 37, a waterproof driving motor 38 and a waterproof contact plate 39, wherein the partition passage 30 is provided with a plurality of partition passages and is arranged at the side position of the protection expansion passage 20 for providing expansion and contraction of the partition protection plate 33; the number of the partition hydraulic pumps 31 is the same as that of the partition passages 30, the partition hydraulic pumps are arranged in the partition passages 30, and the partition hydraulic pumps are respectively connected with the partition passages 30 and the partition hydraulic rods 32 and used for driving the connected partition hydraulic rods 32 to stretch and retract; the number of the partition hydraulic rods 32 is the same as that of the partition hydraulic pumps 31, the partition hydraulic rods are arranged at the inner positions of the partition passages 30, and the partition hydraulic rods are respectively connected with the partition hydraulic pumps 31 and the partition protection plates 33 and used for driving the connected partition protection plates 33 to stretch and retract; the number of the partition protection plates 33 is the same as that of the partition hydraulic rods 32, the partition protection plates are arranged at the front end positions of the partition hydraulic rods 32 and connected with the partition hydraulic rods 32 and used for protecting submarine cables; the number of the interference passages 34 is the same as that of the partition protection plates 33, and the interference passages are arranged in the partition protection plates 33 and used for providing the partition expansion plates 37 to expand and contract; the number of the collision hydraulic pumps 35 is the same as that of the collision channels 34, the collision hydraulic pumps are arranged in the collision channels 34, and the collision hydraulic pumps are respectively connected with the collision channels 34 and the collision hydraulic rods 36 and used for driving the connected collision hydraulic rods 36 to stretch and retract; the number of the collision hydraulic rods 36 is the same as that of the collision hydraulic pumps 35, the collision hydraulic rods are arranged in the collision channel 34, and the collision hydraulic rods are respectively connected with the collision hydraulic pumps 35 and the partition expansion plates 37 and used for driving the connected partition expansion plates 37 to expand and contract; the partition expansion plates 37 are consistent with the collision hydraulic rods 36 in number, are arranged at the front ends of the collision hydraulic rods 36, are connected with the collision hydraulic rods 36 and are used for protecting submarine cables; the number of the waterproof driving motors 38 is the same as that of the partition expansion plates 37, the waterproof driving motors are arranged at the inner positions below the partition expansion plates 37, and the waterproof driving motors are respectively connected with the partition expansion plates 37 and the waterproof touch plates 39 and used for driving the connected waterproof touch plates 39 to stretch; the number of the waterproof touch plates 39 is the same as that of the protection driving motors, the waterproof touch plates are arranged at the surface position below the waterproof touch plates 39, and the waterproof touch plates are connected with the waterproof driving motors 38 and wrapped with partition waterproof layers; the repairing device 4 comprises an underwater repairing robot 40, a cutting mechanical arm 41, a spraying mechanical arm 42, a repairing driving motor 43, a repairing touch plate 44 and a waterproof splicing mechanism 45, wherein a plurality of underwater repairing robots 40 are arranged and used for repairing faults of submarine cables; the cutting mechanical arm 41 is a telescopic mechanical arm provided with cutting equipment, and a plurality of cutting mechanical arms 41 are arranged at the side position of the underwater repairing robot 40 and used for cutting; the spraying mechanical arm 42 is a telescopic mechanical arm provided with a spray head, and the spraying mechanical arm 42 is provided with a plurality of spraying mechanical arms which are arranged at the side positions of the underwater robot and used for spraying waterproof quick-drying glue or waterproof insulating glue for protecting submarine cables; the repairing driving motors 43 are arranged at the side positions inside the underwater repairing robot 40, are respectively connected with the underwater repairing robot 40 and the repairing touch plate 44, and are used for driving the connected repairing touch plate 44 to stretch and retract; the number of the repairing contact plates 44 is the same as that of the repairing driving motors 43, the repairing contact plates are arranged above the side face of the underwater robot, and the repairing contact plates are respectively connected with the repairing driving motors 43 and the waterproof splicing mechanisms 45 and adopt a waterproof design so as to enable the connected waterproof splicing mechanisms 45 to be respectively abutted against the partition protection plate 33, the partition expansion plate 37 and the protection expansion plate 23; the number of the waterproof splicing mechanisms 45 is the same as that of the repairing contact plates 44, and the waterproof splicing mechanisms are arranged on the surface of the repairing contact plates 44 and are respectively in sealing connection with the partition protection plate 33, the partition expansion plate 37 and the protection expansion plate 23; the storage device 5 comprises robot storage bins 50, glue storage bins 51, glue conduits 52 and a heating layer 53, wherein the number of the robot storage bins 50 is the same as that of the underwater repairing robots 40, and the robot storage bins 50 are arranged at the side positions of the cable trench 12 and used for storing the underwater repairing robots 40; the glue storage bins 51 are consistent with the underwater repairing robot 40 in number, are arranged at the inner position of the underwater repairing robot 40, are respectively connected with the underwater repairing robot 40 and the glue conduit 52, and are used for respectively storing waterproof quick-drying glue and waterproof insulating glue; the glue conduit 52 is arranged at the inner position of the underwater repairing robot 40, is consistent with the glue storage bin 51 and the spraying mechanical arms 42 in number respectively, and is used for guiding waterproof quick-drying glue or waterproof insulating glue in the glue storage bin 51 into the connected spraying mechanical arms 42; the heating layer 53 is arranged on the inner wall of the glue storage bin 51 and is used for heating the waterproof quick-drying glue and the waterproof insulating glue in the glue storage bin 51; the drainage device 6 comprises a first suction pipeline 60, a second suction pipeline 61, a first drainage device 62 and a second drainage device 63, wherein the first suction pipeline 60 is provided with a plurality of pipelines which are arranged at the inner wall position of the protective expansion plate 23, and are respectively connected with the protective expansion plate 23 and the first drainage device 62 and used for sucking seawater in the inner wall space of the protective expansion plate 23; the second suction pipes 61 are provided with a plurality of pipes and are arranged at the outer wall positions of the protective expansion plates 23, and are respectively connected with the protective expansion plates 23 and the second drainage equipment 63 and are used for sucking seawater in the outer wall space of the protective expansion plates 23; the number of the first drainage devices 62 is the same as that of the first suction pipelines 60, and the first drainage devices are arranged at the outer wall of the protective expansion plate 23 and used for discharging the seawater sucked by the connected first suction pipelines 60; the number of the second drainage devices 63 is the same as that of the second suction pipes 61, and the second drainage devices are arranged at the outer wall of the protective expansion plate 23 and used for discharging the seawater sucked by the connected second suction pipes 61; the recognition device 7 comprises a first camera 70, a second camera 71, a third camera 72 and a cable fault detector 73, wherein the first cameras 70 are provided with a plurality of cameras and arranged at the side positions of the underwater guidance robot 15, and are used for shooting the environmental images around the underwater guidance robot 15; the second cameras 71 are arranged at the side positions of the underwater repairing robot 40 and are used for shooting the environmental images around the underwater repairing robot 40; the third cameras 72 are arranged at a plurality of surface positions below the underwater repairing robot 40 and are used for shooting environmental images below the underwater repairing robot 40; the cable fault detector 73 is arranged at the inner position of the submarine cable and used for detecting fault information of the submarine cable; the processing device 8 comprises a first processing unit 80 and a second processing unit 81, wherein the number of the first processing units 80 is the same as that of the underwater repairing robots 40, the first processing units are arranged at the inner positions of the underwater repairing robots 40 and are used for being connected with the underwater repairing robots 40, the cutting mechanical arms 41, the spraying mechanical arms 42, the repairing driving motors 43, the waterproof splicing mechanisms 45, the glue storage bins 51, the heating layers 53, the robot storage bins 50, the glue storage bins 51, the glue conduits 52, the heating layers 53 and the wireless device 9 respectively and executing set operations; the second processing unit 81 is disposed at an internal position of the submarine cable, and is used for executing a set operation; the wireless device 9 is disposed in the second processing unit 81 and is configured to be connected to the adsorption base 14, the underwater guidance robot 15, the protective telescopic hydraulic pump 21, the partition hydraulic pump 31, the collision hydraulic pump 35, the waterproof driving motor 38, the first suction pipeline 60, the second suction pipeline 61, the first drainage device 62, the second drainage device 63, the first camera 70, the cable fault detector 73, the first processing unit 80, the second processing unit 81, an external device of a submarine cable management department, and a network.
As a preferred mode of the invention, the device further comprises a sealing device 10, wherein the sealing device 10 comprises a protective sealing motor 100, a protective sealing plate 101, a partition sealing motor 102, a partition sealing plate 103, a robot sealing motor 104 and a robot sealing plate 105, the number of the protective sealing motors 100 is the same as that of the protective telescopic channels 20, the protective sealing motors are arranged at the lateral positions of the protective telescopic channels 20, and the protective sealing motors are respectively connected with the wireless device 9 and the protective sealing plate 101 and are used for driving the connected protective sealing plate 101 to stretch and retract; the number of the protective sealing plates 101 is the same as that of the protective sealing motors 100, the protective sealing plates are arranged at the side positions of the protective telescopic channels 20, and the protective telescopic channels 20 are respectively connected with the protective sealing motors 100 and the protective telescopic channels 20 and used for switching on and off the connection; the number of the partition closed motors 102 is the same as that of the partition passages 30, the partition closed motors are arranged at the side positions of the partition passages 30, and the partition closed motors are respectively connected with the wireless device 9 and the partition closed plates 103 and used for driving the connected partition closed plates 103 to stretch; the number of the partition closing plates 103 is the same as that of the partition closing motors 102, the partition closing plates are arranged at the side positions of the partition passages 30, and the partition closing plates are respectively connected with the partition closing motors 102 and the partition passages 30 and used for switching on and off the partition passages 30 connected with the partition closing motors 102; the number of the robot sealing motors 104 is the same as that of the robot storage bins 50, the robot sealing motors are arranged at the side positions of the robot storage bins 50, and the robot sealing motors are respectively connected with the wireless devices 9 and the robot sealing plates 105 and used for driving the connected robot sealing plates 105 to stretch and retract; the number of the robot sealing plates 105 is the same as that of the robot sealing motors 104, the robot sealing plates are arranged at the side positions of the robot storage bin 50, and the robot sealing plates are respectively connected with the robot storage bin 50 and the robot sealing motors 104 and used for switching the robot storage bin 50.
As a preferred mode of the present invention, the repairing device further includes a cable simulation mechanical arm 47 and an optical cable simulation mechanical arm 48, wherein the cable simulation mechanical arm 47 is provided with a plurality of pieces, is arranged above the underwater robot, and is respectively connected to the underwater robot and the first processing unit 80, and is used for simulating a cable to perform power transmission; the cable simulation mechanical arm 47 is provided with a plurality of cable simulation mechanical arms, is arranged above the underwater robot, is respectively connected with the underwater robot and the first processing unit 80, and is used for simulating optical fibers to transmit telephone and internet signals.
The second processing unit 81 sends or receives instructions and/or information and/or requests to the adsorption base 14, the underwater guiding robot 15, the protective telescopic hydraulic pump 21, the partition hydraulic pump 31, the abutting hydraulic pump 35, the waterproof driving motor 38, the first adsorption pipeline 60, the second adsorption pipeline 61, the first drainage equipment 62, the second drainage equipment 63, the first camera 70, the cable fault detector 73, external equipment of a submarine cable management department, a network, the partition closed motor 102, the robot closed motor 104, the abutting telescopic motor 25, the abutting ejection motor 27, the ultrasonic fish driving device 46, the pressure sensor 74 and the third camera 72 and executes operation through the connected wireless device 9; the first camera 70, the second camera 71 and the third camera 72 all adopt a night vision design; electronic devices in the intelligent protection system are all designed to be waterproof; the lower surface of the underwater repairing robot 40 is also provided with a telescopic supporting block which is used for abutting against the bottom surface of the robot storage bin 50 or the seabed or the rust-proof iron platform 13 to place the underwater repairing robot 40.
Specifically, the wireless device 9 receives a cable laying instruction sent by an external device of a connected submarine cable management department and returns the cable laying instruction to the connected second processing unit 81, the second processing unit 81 receives a first image (the first image is an image of an environment around the underwater guidance robot 15 captured by the first camera 70) captured by the first camera 70 and controls the underwater guidance robot 15 in the connection relationship to capture the first image in real time, the underwater guidance robot 15 controls the connected submarine cable to be guided to the position inside the cable trench 12 manufactured by the cable burying machine in real time according to the first image captured by the first camera 70, the second processing unit 81 analyzes that a region of the submarine cable completely contacts with the rustproof iron platform 13 at the position inside the cable trench 12 according to the first image, and the second processing unit 81 controls the iron platform of the submarine cable completely contacting with the rustproof iron platform 13 at the position inside the cable trench 12 The adsorption base 14 is started to be electromagnetically adsorbed with the rustproof iron platform 13, after the submarine cable in which the second processing unit 81 is located is completely placed at the position inside the cable trench 12 and the adsorption base 14 of the submarine cable and the rustproof iron platform 13 are electromagnetically repaired, the second processing unit 81 controls the cable fault detector 73 which keeps the connection relationship to start to detect whether the connected submarine cable has fault information in real time, if the cable fault detector 73 which keeps the connection relationship detects that the submarine cable has the fault information, the second processing unit 81 extracts the fault point area position contained in the fault information and controls the protective sealing plates 101 which are in driving connection with the protective sealing motors 100 on the two sides of the cable trench 12 and on which the submarine cable in which the extracted fault point area position is located to completely contract to open the connected protective telescopic channel 20 and controls the partition sealing plates 103 which are in driving connection with the partition sealing motors 102 on the two sides of the cable trench 12 and on which the submarine cable in which the extracted fault point area position is The connected partition passage 30 is contracted to be opened, meanwhile, the telescopic second processing unit 81 controls the robot sealing plate 105 which is connected with the submarine cable at the extracted fault point area position and is driven by the robot sealing motor 104 which is arranged at the side of the robot storage bin 50 which is arranged at the side of the cable trench 12 and is completely contracted to open the connected robot storage bin 50, after the protective sealing plate 101, the partition sealing plate 103 and the robot sealing plate 105 are completely contracted, the second processing unit 81 controls the protective hydraulic pump which is arranged in the opened protective telescopic passage 20 to drive the connected protective hydraulic rod to completely extend the connected protective telescopic plate 23 and controls the partition hydraulic pump 31 which is arranged in the opened partition passage 30 to drive the connected partition hydraulic rod 32 to completely extend the connected partition protective plate 33 and starts the underwater repairing robot 40 which is stored in the opened robot storage bin 50 to establish repairing binding relation with the submarine cable at the extracted fault point area position, after the protection board 33 is completely stretched out in the shrink partition, conflict hydraulic stem 36 that conflict hydraulic pump 35 drive inside of conflict passageway 34 of the partition protection board 33 that second processing unit 81 control was stretched out completely and is connected stretches out the partition expansion plate 37 who connects completely (the partition expansion plate 37 of the partition protection board 33 of cable pit 12 both sides stretches out completely back mutual conflict and sealed sea water can't get into) forms repair area (repair area is the protection expansion plate 23 of cable pit 12 both sides and the middle region of partition expansion plate 37 in the partition protection board 33 around and repair area) cut off after expansion plate 37 stretches out completely, waterproof touch panel 39 of the waterproof driving motor 38 drive connection that the partition expansion plate 37 that second processing unit 81 control was stretched out completely and is connected stretches out completely and contradict and seal with rust-resistant platform 13 iron platform of cable pit 12, simultaneously, the second that the inside first processing unit 80 control of the underwater repair robot 40 that starts keeps the relation of connection is taken photograph The image head 71 captures a second image in real time (the second image is an image of an environment around the underwater repairing robot 40 captured by the second image head 71), the third image 72 which is captured by the third image head 72 and keeps a connection relationship captures a third image in real time (the third image is an image of an environment below the underwater repairing robot 40 captured by the third image head 72), the first processing unit 80 repairs the repairing contact plate 44 which is driven by the driving motor 43 to be connected and completely extends out, controls the underwater repairing robot 40 which keeps the connection relationship to move to a position above a repairing area of a fault area of the bound submarine cable according to the second image control, and after the underwater repairing robot 40 finishes moving, the first processing unit 80 controls the underwater repairing robot 40 to respectively enable the repairing contact plate 44 to be respectively connected with the upper surface of the partition protection plate 33 of the repairing area according to the second image and the third image, The upper surface of the partition expansion plate 37 and the upper surface of the protective expansion plate 23 are abutted and the waterproof splicing mechanism 45 of the repair abutting plate 44 which is correctly abutted with the partition protection plate 33 is controlled to enter a waterproof fixed state to form a partition area, the first processing unit 80 analyzes that all the waterproof splicing mechanisms 45 which keep the connection relation enter a waterproof fixed state and then sends a drainage instruction to the second processing unit 81, the second processing unit 81 receives the drainage instruction and then controls the first suction pipeline 60 which keeps the connection relation to completely extend out of the first drainage equipment 62 which sucks seawater in and connected with the partition area and controls the first drainage equipment 62 which keeps the connection relation to start the heating layer 53 which discharges the seawater out of the partition area and controls the connection relation to start a heating function, and after the first processing unit 80 finishes discharging the seawater in the partition area according to the third image, the cutting mechanical arm 41 which controls the connection relation to keep according to the third image Cutting off the fault point of the submarine cable of the domain (the cutting mechanical arm 41 resets and stops after the cutting off), controlling all cable simulation mechanical arms 47 (or optical cable simulation mechanical arms 48, if the submarine cable is a submarine power cable, the cable simulation mechanical arms 47 are used, if the submarine cable is a submarine communication cable, the optical cable simulation mechanical arms 48 are used) which are kept in a connection relation with the left side of the submarine cable which is cut and the right side of the submarine cable which is cut respectively, after the connection is finished, sending the secondary detection information of the fault point to a second processing unit 81 which is kept in the connection relation by the first processing unit 80, analyzing whether the fault point information detected by a cable fault detector 73 which is kept in the connection relation is matched with the fault point information contained by the secondary detection information of the fault point sent by the first processing unit 80 or not by the second processing unit 81 which is received, if the fault point is not detected, the second processing unit 81 returns the repair completion information to the first processing unit 80 which sends the fault point secondary detection information without matching fault points, the first processing unit 80 receives the signal and controls the cable simulation mechanical arm 47 (or the optical cable simulation mechanical arm 48) which keeps the connection relation to be disconnected with the underwater repair robot 40, after the cable simulation mechanical arm 47 (or the optical cable simulation mechanical arm 48) is disconnected with the underwater repair robot 40, the first processing unit 80 controls the glue storage bin 51 which keeps the connection relation and stores waterproof quick-drying glue to guide the waterproof quick-drying glue inside into the connected glue conduit 52 and controls the spraying mechanical arm 42 which keeps the connection relation to spray the waterproof quick-drying glue inside the connected glue conduit 52 to the cutting position of the submarine cable and the position of the cable simulation mechanical arm 47 (or the optical cable simulation mechanical arm 48), after the cutting position of the submarine cable and the position of the cable simulation mechanical arm 47 (or the optical cable simulation mechanical arm 48) are sprayed, the first processing unit 80 controls the glue storage bin 51 which is used for keeping the connection relationship and stores waterproof insulating glue to guide the waterproof insulating glue in the glue guide pipe 52 and controls the spraying mechanical arm 42 which keeps the connection relationship to spray the waterproof insulating glue in the glue guide pipe 52 to the cutting position of the submarine cable and the position of the cable simulation mechanical arm 47 (or the optical cable simulation mechanical arm 48), after the cutting position of the submarine cable and the position of the cable simulation mechanical arm 47 (or the optical cable simulation mechanical arm 48) are sprayed and the waterproof insulating glue is completely solidified, the first processing unit 80 sends a suction instruction to the second processing unit 81, and the second processing unit 81 receives the suction instruction and controls the second suction pipeline 61 which keeps the connection relationship to suck liquid outside the partition area and guide the liquid in the second drainage device which is connected The second drainage equipment 63 which is provided with the first processing unit 63 and controls the second drainage equipment 63 which keeps the connection relation to guide the seawater into the position inside the partition area, after the first processing unit 80 analyzes that the seawater inside the partition area is fully loaded according to the second image and the third image, all the waterproof splicing mechanisms 45 which keep the connection relation are controlled to release the waterproof fixed state, and the repairing driving motors 43 which are connected with the repairing touch panels 44 which are connected with the waterproof splicers which release the waterproof fixed state are controlled to drive the repairing touch panels 44 to completely shrink, after the repairing touch panels 44 are completely shrunk, the first processing unit 80 sends repairing completion information to the second processing unit 81 which keeps the connection relation and controls the underwater repairing robot 40 which keeps the connection relation to return to the robot storage bin to enter the dormant state (all the electronic devices are in the standby state after entering the dormant state), and after the second processing unit 81 receives the repairing completion information sent by the first processing unit 80, the second processing unit 81 controls the repairing completion area The waterproof touch panel 39 that waterproof driving motor 38 drive is connected contracts completely and controls the protection hydraulic rod that the protection hydraulic pump 21 drive that the repair is accomplished the region is connected and the protection expansion panel 23 that connects contracts completely, waterproof touch panel 39 contracts completely and underwater repair robot 40 gets into robot storehouse 50 dormancy back completely, the conflict hydraulic rod 36 that the conflict hydraulic pump 35 drive of the waterproof touch panel 39 that the repair is accomplished the region is totally contracted to the second processing unit 81 control and is connected with the conflict hydraulic rod 36 of the separation guard plate 33 that the partition guard plate 33 that the underwater repair robot 39 contracts completely and controls the robot that underwater repair robot 40 gets into completely seals robot closing plate 105 that motor 104 drive is connected and stretches out completely and closes robot storehouse 50, after protection expansion panel 23 contracts completely, the second processing unit 81 controls the side of protection motor 100 drive connection of the protection telescopic passage 20 that the protection expansion plate 23 that the completely contracts completely and protects passage 20 The protection expansion plate 23 is completely extended to close the protection expansion channel 20, after the partition expansion plate 37 is completely contracted, the second processing unit 81 controls the partition hydraulic pump 31 in the partition channel 30 in which the partition protection plate 33 in which the completely contracted partition expansion plate 37 is located to drive the connected partition hydraulic rod 32 to completely contract the connected partition protection plate 33 and controls the partition sealing motor 102 in the side position of the partition channel 30 in which the partition protection plate 33 is completely contracted to drive the connected partition sealing plate 103 to completely extend out to close the partition channel 30.
Example two
Referring to fig. 2-4, fig. 11.
The present embodiment is substantially the same as the first embodiment, and the difference is that the present embodiment further includes a cleaning device 11, where the cleaning device 11 includes a cleaning channel 110, a cleaning nozzle 111, and a cleaning pipeline 112, and the cleaning channel 110 is provided with a plurality of cleaning nozzles 111 and is disposed at a position below the underwater repairing robot 40, and is used for providing the cleaning nozzle 111 to stretch and contract; the number of the cleaning nozzles 111 is the same as that of the cleaning channels 110, and the cleaning nozzles are arranged in the cleaning channels 110, and are respectively connected with the cleaning channels 110, the first processing unit 80 and the wireless device 9, and are used for spraying seawater for cleaning; the number of the cleaning pipes 112 is the same as the number of the cleaning nozzles 111, and the cleaning pipes are disposed above the underwater repairing robot 40, connected to the cleaning nozzles 111, and configured to suck seawater above the underwater repairing robot 40 and guide the seawater into the connected cleaning nozzles 111.
As a preferred mode of the present invention, the cleaning device 11 further includes waterproof drying slots 113 and drying devices 114, the number of the waterproof drying slots 113 is the same as the number of the underwater repairing robots 40, and the waterproof drying slots 113 are disposed below the underwater repairing robots 40 and used for placing the drying devices 114; the number of the drying devices 114 is the same as that of the waterproof drying slots 113, and the drying devices are disposed in the waterproof drying slots 113, and are respectively connected to the underwater repairing robot 40 and the first processing unit 80, so as to provide a drying function.
As a preferable mode of the present invention, the sealing device 10 further includes drying sealing motors 106 and drying sealing plates 107, the number of the drying motors is the same as that of the waterproof drying slots 113, the drying motors are arranged at positions inside the underwater repairing robot 40 beside the waterproof drying slots 113, and the drying motors are respectively connected to the underwater repairing robot 40, the first processing unit 80 and the drying sealing plates 107 for driving the connected drying sealing plates 107 to extend and retract; the number of the drying and sealing plates 107 is the same as that of the drying and sealing motors 106, and the drying and sealing plates are arranged at the inner position of the underwater repairing robot 40 at the side of the waterproof drying groove 113, and are respectively connected with the waterproof drying groove 113 and the drying and sealing motors 106, and are used for opening and closing the connected waterproof drying groove 113.
Specifically, when the first suction pipeline 60 and the first drainage device 62 are contracted to operate, the first processing unit 80 controls the cleaning nozzle 111 of the underwater repairing robot 40 forming the partition area to completely extend out of the cleaning channel 110 and controls the completely extending cleaning nozzle 111 to spray seawater outside the partition area to the surface position of the submarine cable inside the partition area through the connected cleaning pipeline 112 so as to wash sand on the surface of the submarine cable, and after the first processing unit 80 analyzes that no obvious stain exists in the submarine cable of the partition area according to the third image, the first processing unit 80 controls the cleaning nozzle 111 to stop operating; after the seawater in the partition area is completely discharged by the first water discharging device 62, the first processing unit 80 controls the drying and sealing motor 106 which is kept in a connection relationship to drive the connected drying and sealing plate 107 to completely contract so as to open the waterproof drying tank 113 and control the opened drying device 114 in the waterproof drying tank 113 to enter a drying state, and dries the water in the partition area from which the seawater is discharged, so that the influence of the seawater on the repairing effect is avoided when the submarine cable is repaired; after the submarine cable is repaired and the second suction pipeline 61 and the second drainage device 63 are started, the first processing unit 80 controls the drying device 114 which maintains the connection relationship to stop and controls the drying sealing motor 106 which is arranged at the side of the waterproof drying tank 113 where the drying device 114 stops to drive the connected drying sealing plate 107 to fully extend to close the waterproof drying tank 113, after the waterproof drying tank 113 is closed, the first processing unit 80 controls the cleaning nozzle 111 which maintains the connection relationship to spray seawater outside the partition area to the position inside the partition area, and after the first processing unit 80 analyzes the seawater inside the partition area according to the second image and the third image, the first processing unit 80 controls the cleaning nozzle 111 which maintains the connection relationship to stop running and fully retract to the position inside the cleaning channel 110.
EXAMPLE III
Referring to fig. 2-11, fig. 9 is a schematic side view of the placement of a touch platform and a suction base according to an exemplary embodiment of the present invention; fig. 10 is a schematic front view of the placement of the touch platform and the adsorption base according to one embodiment of the present invention.
The embodiment is substantially the same as the first embodiment, except that in the embodiment, the telescopic device 2 further includes a plurality of abutting platforms 24, and the abutting platforms 24 are disposed at positions on the upper surface of the submarine cable and connected to the submarine cable.
As a preferred mode of the present invention, the telescopic device 2 further includes a collision telescopic motor 25, a collision telescopic plate 26, a collision ejection motor 27 and a collision strut 28, wherein the number of the collision telescopic motors 25 is the same as the number of the collision platforms 24, and the collision telescopic motors are disposed at the inner positions of the collision platforms 24, and are respectively connected to the collision platforms 24, the wireless device 9 and the collision telescopic plate 26, and are used for driving the connected collision telescopic plate 26 to extend and retract; the number of the collision telescopic plates 26 is the same as that of the collision telescopic motors 25, the collision telescopic plates are arranged at the side positions of the collision platforms 24, and the collision telescopic plates are connected with the collision telescopic motors 25 and used for colliding with the inner wall of the cable trench 12; the number of the collision ejection motors 27 is the same as that of the adsorption bases 14, the collision ejection motors are arranged at the inner positions of the adsorption bases 14, and the collision ejection motors are respectively connected with the adsorption bases 14, the wireless devices 9 and the collision pillars 28 and used for driving the connected collision pillars 28 to eject; the collision supporting columns 28 are provided with a plurality of supporting columns and arranged at the side positions of the adsorption base 14, are connected with the collision ejection motors 27, and are used for being fixed with the inner wall of the cable trench 12 after being extended out.
As a preferable mode of the present invention, the repairing device 4 further includes an ultrasonic fish-dispelling device 46, wherein the ultrasonic fish-dispelling device 46 is provided with a plurality of devices and is disposed at a position on the upper surface of the collision platform 24, and is respectively connected to the collision platform 24 and the wireless device 9 for dispelling fish around the submarine cable.
As a preferred aspect of the present invention, the identification device 7 further includes pressure sensors 74 and fourth cameras 75, the number of the pressure sensors 74 is the same as the number of the adsorption bases 14, the pressure sensors are disposed at the surface positions below the adsorption bases 14, and the pressure sensors are respectively connected to the adsorption bases 14 and the wireless device 9, and are used for acquiring the pressure information below the adsorption bases 14; the fourth camera 75 is provided with a plurality of cameras and disposed at the lateral surface of the adsorption base 14, and is respectively connected to the adsorption base 14 and the wireless device 9, for capturing the image of the environment around the adsorption base 14.
Specifically, when the submarine cable enters the cable trench 12, the second processing unit 81 controls the pressure sensor 74 of the placement base of the submarine cable entering the cable trench 12 to acquire the collision pressure information in real time and controls the fourth camera 75 of the adsorption base 14 of the submarine cable entering the cable trench 12 to capture a fourth image in real time (the fourth image is an environmental image around the adsorption base 14 captured by the fourth camera 75), the collision pressure information and the fourth image acquired by the second processing unit 81 in real time analyze whether the submarine cable completely enters the cable trench 12, if so, the second processing unit 81 controls the adsorption base 14 of the submarine cable completely entering the cable trench 12 to be electromagnetically adsorbed by the rustproof iron platform 13, and after the adsorption base 14 and the rustproof iron platform 13 are electromagnetically adsorbed, the real-time second processing unit 81 controls the collision ejection motor 27 inside the adsorption base 14 electromagnetically adsorbed by the rustproof iron platform 13 to drive the ejection motor to drive The connected collision strut 28 is popped out to penetrate into the inner wall position of the cable trench 12 to fix the submarine cable and control a collision telescopic motor 25 in a collision platform 24 connected above the submarine cable connected with an adsorption base 14 electromagnetically adsorbed by the antirust iron platform 13 to drive a connected collision telescopic plate 26 to completely extend out to collide with the inner wall of the cable trench 12 so as to secondarily fix the submarine cable, and after the collision telescopic plate 26 is completely extended out, the second processing unit 81 controls and controls an ultrasonic area device of the collision platform 24 connected above the submarine cable connected with the adsorption base 14 electromagnetically adsorbed by the antirust iron platform 13 to start so as to drive fishes around the submarine cable in real time and avoid the damage of the fishes to the submarine cable; if the second processing unit 81 analyzes that the submarine cable has a fault point, the second processing unit 81 controls the collision extension plate 26 driven and connected by the collision extension motor 25 in the fault point area to completely contract and controls the collision strut 28 driven and connected by the collision ejection motor 27 in the fault point area to completely contract, and controls the collision strut 28 driven and connected by the collision ejection motor 27 of the adsorption base 14 of the submarine cable completed with fault point restoration to pop out and penetrate into the inner wall of the cable trench 12 after the submarine cable fault point restoration is completed, and controls the collision extension plate 26 driven and connected by the collision extension motor 25 of the collision platform 24 of the submarine cable completed with fault point restoration to stretch out and collide with the inner wall of the cable trench 12.
The above embodiments are merely illustrative of the technical ideas and features of the present invention, and are intended to enable those skilled in the art to understand the contents of the present invention and implement the present invention, and not to limit the scope of the present invention. All equivalent changes or modifications made according to the spirit of the present invention should be covered within the protection scope of the present invention.
Claims (9)
1. A hidden intelligent protection system based on submarine cables comprises a cable placement device, a telescopic device, a partition device, a repair device, a storage device, a drainage device, an identification device, a processing device and a wireless device, and is characterized in that the cable placement device comprises a cable trench, an antirust iron platform, an adsorption base and an underwater guide robot, and the cable trench is a submarine tunnel for placing the submarine cables, which is caused by a cable embedding mechanism; the rust-proof iron platforms are provided with a plurality of rust-proof iron platforms, are laid and fixed at the bottom end positions in the cable trench and are used for being adsorbed with the adsorption base; the adsorption bases are arranged at a plurality of positions on the surface below the submarine cable, are connected with the submarine cable and are used for being electromagnetically adsorbed on the rust-proof iron platform; the underwater guiding robot is arranged at the front end of the submarine cable, is connected with the front end of the submarine cable, and is used for guiding the connected submarine cable to be placed in the cable trench; the telescopic device comprises a plurality of protective telescopic channels, a protective telescopic hydraulic pump, a protective telescopic hydraulic rod and a protective telescopic plate, wherein the protective telescopic channels are arranged at the two sides of the cable trench and used for providing the telescopic of the protective telescopic plate; the number of the protective telescopic hydraulic pumps is consistent with that of the protective telescopic channels, the protective telescopic hydraulic pumps are arranged in the protective telescopic channels, and the protective telescopic hydraulic pumps are respectively connected with the protective telescopic channels and the protective telescopic hydraulic rods and used for driving the connected protective telescopic hydraulic rods to stretch; the number of the protective telescopic hydraulic rods is consistent with that of the protective telescopic hydraulic pumps, the protective telescopic hydraulic rods are arranged at the inner positions of the protective telescopic channels, and the protective telescopic hydraulic rods are respectively connected with the protective telescopic hydraulic pumps and the protective telescopic plates and used for driving the connected protective telescopic plates to stretch; the number of the protection telescopic plates is consistent with that of the protection telescopic hydraulic rods, the protection telescopic plates are arranged at the front end of the protection telescopic hydraulic rods and connected with the protection telescopic rods for protecting submarine cables; the partition device comprises a partition passage, a partition hydraulic pump, a partition hydraulic rod, a partition protection plate, a collision passage, a collision hydraulic pump, a collision hydraulic rod, a partition expansion plate, a waterproof driving motor and a waterproof touch plate, wherein the partition passage is provided with a plurality of partition passages, is arranged at the side position of the protection expansion passage and is used for providing expansion of the partition protection plate; the number of the partition hydraulic pumps is consistent with that of the partition channels, the partition hydraulic pumps are arranged in the partition channels, and the partition hydraulic pumps are respectively connected with the partition channels and the partition hydraulic rods and used for driving the connected partition hydraulic rods to stretch; the number of the partition hydraulic rods is consistent with that of the partition hydraulic pumps, the partition hydraulic rods are arranged at the inner positions of the partition passages, and the partition hydraulic rods are respectively connected with the partition hydraulic pumps and the partition protection plates and used for driving the connected partition protection plates to stretch; the number of the partition protection plates is consistent with that of the partition hydraulic rods, the partition protection plates are arranged at the front end of the partition hydraulic rods and connected with the partition hydraulic rods to protect submarine cables; the number of the conflict passages is consistent with that of the partition protection plates, and the conflict passages are arranged in the partition protection plates and used for providing the partition expansion plates to expand; the number of the conflict hydraulic pumps is consistent with that of the conflict channels, the conflict hydraulic pumps are arranged in the conflict channels, and the conflict hydraulic pumps are respectively connected with the conflict channels and the conflict hydraulic rods and used for driving the connected conflict hydraulic rods to stretch and retract; the number of the conflict hydraulic rods is consistent with that of the conflict hydraulic pumps, the conflict hydraulic rods are arranged in the conflict channel, and the conflict hydraulic rods and the partition expansion plates are respectively connected with the conflict hydraulic pumps and the partition expansion plates and used for driving the connected partition expansion plates to expand and contract; the number of the partition expansion plates is consistent with that of the collision hydraulic rods, the partition expansion plates are arranged at the front ends of the collision hydraulic rods and connected with the collision hydraulic rods to protect submarine cables; the number of the waterproof driving motors is consistent with that of the partition expansion plates, the waterproof driving motors are arranged at the inner positions below the partition expansion plates, and the waterproof driving motors are respectively connected with the partition expansion plates and the waterproof touch plates and are used for driving the connected waterproof touch plates to expand and contract; the number of the waterproof touch plates is consistent with that of the protection driving motors, the waterproof touch plates are arranged at the surface positions below the waterproof touch plates, and the waterproof touch plates are connected with the waterproof driving motors and wrapped with partition waterproof layers; the repairing device comprises underwater repairing robots, a cutting mechanical arm, a spraying mechanical arm, a repairing driving motor, a repairing touch plate and a waterproof splicing mechanism, wherein the underwater repairing robots are provided with a plurality of repairing touch plates and used for repairing faults of submarine cables; the cutting mechanical arm is a telescopic mechanical arm provided with cutting equipment, and a plurality of cutting mechanical arms are arranged at the side position of the underwater repairing robot and used for cutting; the spraying mechanical arm is a telescopic mechanical arm provided with a spray head, and the spraying mechanical arm is provided with a plurality of spraying mechanical arms, is arranged at the side position of the underwater robot and is used for spraying waterproof quick-drying glue or waterproof insulating glue for protecting submarine cables; the repairing driving motors are provided with a plurality of repairing driving motors, are arranged at the side positions in the underwater repairing robot, are respectively connected with the underwater repairing robot and the repairing touch plates, and are used for driving the connected repairing touch plates to stretch out and draw back; the number of the repairing collision plates is the same as that of the repairing driving motors, the repairing collision plates are arranged above the side face of the underwater robot, and the repairing collision plates are respectively connected with the repairing driving motors and the waterproof splicing mechanisms and adopt a waterproof design for colliding the connected waterproof splicing mechanisms with the partition protection plate, the partition expansion plate and the protection expansion plate; the number of the waterproof splicing mechanisms is consistent with that of the repairing collision plates, the waterproof splicing mechanisms are arranged on the surface of the repairing collision plate and are used for being hermetically connected with the partition protection plate, the partition expansion plate and the protection expansion plate respectively; the storage device comprises robot storage bins, glue conduits and a heating layer, wherein the number of the robot storage bins is consistent with that of the underwater repairing robots, the robot storage bins are arranged at the side positions of the cable trench and used for storing the underwater repairing robots; the glue storage bins are consistent with the underwater repairing robot in number, are arranged at the inner position of the underwater repairing robot, are respectively connected with the underwater repairing robot and the glue guide pipe and are used for respectively storing waterproof quick-drying glue and waterproof insulating glue; the glue guide pipe is arranged at the inner position of the underwater repairing robot, is consistent with the glue storage bin and the spraying mechanical arms in number respectively, and is used for guiding waterproof quick-drying glue or waterproof insulating glue in the glue storage bin into the connected spraying mechanical arms; the heating layer is arranged on the inner wall of the glue storage bin and is used for heating waterproof quick-drying glue and waterproof insulating glue inside the glue storage bin; the drainage device comprises a first suction pipeline, a second suction pipeline, first drainage equipment and second drainage equipment, wherein the first suction pipeline is provided with a plurality of first suction pipelines, is arranged at the inner wall position of the protective expansion plate, is respectively connected with the protective expansion plate and the first drainage equipment, and is used for sucking seawater in the inner wall space of the protective expansion plate; the second suction pipeline is provided with a plurality of second suction pipelines, is arranged at the outer wall position of the protective expansion plate, is respectively connected with the protective expansion plate and second drainage equipment, and is used for sucking seawater in the outer wall space of the protective expansion plate; the number of the first drainage devices is consistent with that of the first suction pipelines, and the first drainage devices are arranged at the outer wall of the protective expansion plate and used for discharging the seawater sucked by the connected first suction pipelines; the number of the second drainage devices is consistent with that of the second suction pipelines, and the second drainage devices are arranged at the outer wall of the protective expansion plate and used for discharging the seawater sucked by the connected second suction pipelines; the identification device comprises a first camera, a second camera, a third camera and a cable fault detector, wherein the first cameras are provided with a plurality of cameras, are arranged at the side positions of the underwater guiding robot and are used for shooting environmental images around the underwater guiding robot; the second cameras are arranged at the side positions of the underwater repairing robot and are used for shooting the environmental images around the underwater repairing robot; the third cameras are arranged at the surface positions below the underwater repairing robot and are used for shooting the environment images below the underwater repairing robot; the cable fault detector is arranged at the inner position of the submarine cable and used for detecting fault information of the submarine cable; the processing device comprises a first processing unit and a second processing unit, wherein the number of the first processing unit is consistent with that of the underwater repairing robots, the first processing units are arranged at the inner positions of the underwater repairing robots and are used for being connected with the underwater repairing robots, the cutting mechanical arms, the spraying mechanical arms, the repairing driving motors, the waterproof splicing mechanisms, the glue storage bins, the heating layers, the robot storage bins, the glue guide pipes, the heating layers, the wireless devices and the wireless devices respectively and executing set operation; the second processing unit is arranged at the inner position of the submarine cable and is used for executing set operation; the wireless device is arranged in the second processing unit and is used for being respectively connected with the adsorption base, the underwater guide robot, the protective telescopic hydraulic pump, the partition hydraulic pump, the conflict hydraulic pump, the waterproof driving motor, the first adsorption pipeline, the second adsorption pipeline, the first drainage equipment, the second drainage equipment, the first camera, the cable fault detector, the first processing unit, the second processing unit, external equipment of a submarine cable management department and a network;
the repairing device further comprises a cable simulation mechanical arm and an optical cable simulation mechanical arm, wherein the cable simulation mechanical arms are arranged above the underwater robot, are respectively connected with the underwater robot and the first processing unit, and are used for simulating cables to transmit power; the cable simulation mechanical arm is provided with a plurality of cable simulation mechanical arms, arranged above the underwater robot, connected with the underwater robot and the first processing unit respectively, and used for simulating optical fibers to transmit telephone and internet signals.
2. The submarine cable-based hidden intelligent protection system according to claim 1, further comprising a sealing device, wherein the sealing device comprises a protective sealing motor, a protective sealing plate, a partition sealing motor, a partition sealing plate, a robot sealing motor and a robot sealing plate, the number of the protective sealing motors is equal to the number of the protective telescopic channels, the protective sealing motors are arranged at the side positions of the protective telescopic channels, and the protective sealing plates are respectively connected with the wireless device and the protective sealing plate and used for driving the connected protective sealing plates to stretch and retract; the protection sealing plates are consistent in number with the protection sealing motors, arranged at the side positions of the protection telescopic channels, respectively connected with the protection sealing motors and the protection telescopic channels, and used for switching on and off the protection telescopic channels; the number of the partition closed motors is consistent with that of the partition passages, the partition closed motors are arranged at the side positions of the partition passages, and the partition closed motors are respectively connected with the wireless devices and the partition closed plates and used for driving the connected partition closed plates to stretch; the number of the partition closing plates is consistent with that of the partition closing motors, the partition closing plates are arranged at the side positions of the partition passages, and the partition passages are respectively connected with the partition closing motors and the partition passages and used for switching connection; the robot sealing motors are consistent in number with the robot storage bins, arranged at the side positions of the robot storage bins, respectively connected with the wireless devices and the robot sealing plates and used for driving the connected robot sealing plates to stretch and retract; the robot sealing plates are consistent in number with the robot sealing motors and arranged at the side positions of the robot storage bin, and are respectively connected with the robot storage bin and the robot sealing motors for switching the robot storage bin.
3. The submarine cable-based hidden intelligent protection system according to claim 1, further comprising a cleaning device, wherein the cleaning device comprises a cleaning channel, a cleaning nozzle and a cleaning pipeline, the cleaning channel is provided with a plurality of nozzles and is arranged at a position below the underwater repairing robot for providing the cleaning nozzle to extend and retract; the number of the cleaning spray heads is consistent with that of the cleaning channels, the cleaning spray heads are arranged at the inner positions of the cleaning channels, and the cleaning spray heads are respectively connected with the cleaning channels, the first processing unit and the wireless device and are used for spraying seawater for cleaning; the cleaning pipelines are the same in number as the cleaning nozzles, arranged above the underwater repairing robot, connected with the cleaning nozzles and used for sucking seawater above the underwater repairing robot and guiding the seawater into the connected cleaning nozzles.
4. The submarine cable-based hidden intelligent protection system according to claim 3, wherein the cleaning device further comprises waterproof drying slots and drying equipment, the number of the waterproof drying slots is equal to that of the underwater repairing robots, the waterproof drying slots are arranged at positions below the underwater repairing robots, and the drying equipment is placed on the waterproof drying slots; the number of the drying devices is consistent with that of the waterproof drying grooves, the drying devices are arranged in the waterproof drying grooves, and the drying devices are respectively connected with the underwater repairing robot and the first processing unit and used for providing a drying function.
5. The submarine cable-based hidden intelligent protection system according to claim 2, wherein the sealing device further comprises drying sealing motors and drying sealing plates, the number of the drying sealing motors is equal to that of the waterproof drying grooves, the drying sealing motors are arranged at positions inside the underwater repair robot beside the waterproof drying grooves, and the drying sealing motors are respectively connected with the underwater repair robot, the first processing unit and the drying sealing plates and used for driving the connected drying sealing plates to stretch and retract; the drying sealing plates are consistent in number with the drying sealing motors and are arranged at the inner positions of the underwater repairing robot on the side of the waterproof drying groove, and the drying sealing plates are respectively connected with the waterproof drying groove and the drying sealing motors and used for switching the connected waterproof drying groove.
6. The submarine cable-based hidden intelligent protection system according to claim 1, wherein said expansion device further comprises a plurality of interference platforms, and said interference platforms are disposed at a position above the submarine cable and connected to the submarine cable.
7. The hidden intelligent protection system based on submarine cables according to claim 6, wherein the telescoping devices further comprise collision telescoping motors, collision telescoping plates, collision ejection motors and collision pillars, the number of the collision telescoping motors is equal to the number of the collision platforms, the collision telescoping motors are arranged at the inner positions of the collision platforms, and the collision telescoping motors are respectively connected with the collision platforms, the wireless devices and the collision telescoping plates for driving the connected collision telescoping plates to telescope; the number of the conflict telescopic plates is consistent with that of the conflict telescopic motors, the conflict telescopic plates are arranged at the side positions of the conflict platforms, and the conflict telescopic plates are connected with the conflict telescopic motors and used for conflicting with the inner wall of the cable trench; the number of the collision ejection motors is consistent with that of the adsorption bases, the collision ejection motors are arranged in the adsorption bases, and the collision ejection motors are respectively connected with the adsorption bases, the wireless devices and the collision pillars and used for driving the connected collision pillars to eject; the conflict pillar is provided with a plurality of and sets up in adsorbing base side position, and launches the motor with conflicting, stretches out the back for fix with the cable pit inner wall.
8. The submarine cable-based hidden intelligent protection system according to claim 6, wherein said repair device further comprises an ultrasonic fish-repelling device, said ultrasonic fish-repelling device is provided with a plurality of devices and is disposed on the upper surface of the collision platform, and is connected to the collision platform and the wireless device, respectively, for repelling fish around the submarine cable.
9. The submarine cable-based hidden intelligent protection system according to claim 1, wherein the identification device further comprises pressure sensors and fourth cameras, the number of the pressure sensors is the same as that of the adsorption bases, the pressure sensors are arranged at positions on the surface below the adsorption bases, and the pressure sensors are respectively connected with the adsorption bases and the wireless device and used for acquiring pressure information below the adsorption bases; the fourth camera is provided with a plurality of and sets up in adsorbing base side surface position, and is connected with adsorbing base and wireless device respectively for shoot the environment image around the absorption base of connection.
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| CN201810605494.4A CN108649479B (en) | 2018-06-13 | 2018-06-13 | Hidden intelligent protection system based on submarine cable |
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| CN109530339B (en) * | 2018-10-18 | 2021-04-30 | 湖南凯迪工程科技有限公司 | City utility tunnel intelligence clearance control and alarm system based on thing networking |
| CN112147141B (en) * | 2020-09-22 | 2022-01-04 | 东北林业大学 | Heating wire detects and breakpoint links up robot system |
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