CN108680828A - A kind of submarine cable Measuring error system based on robot - Google Patents
A kind of submarine cable Measuring error system based on robot Download PDFInfo
- Publication number
- CN108680828A CN108680828A CN201810605456.9A CN201810605456A CN108680828A CN 108680828 A CN108680828 A CN 108680828A CN 201810605456 A CN201810605456 A CN 201810605456A CN 108680828 A CN108680828 A CN 108680828A
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- CN
- China
- Prior art keywords
- cable
- unit
- submarine cable
- module
- submarine
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Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/08—Locating faults in cables, transmission lines, or networks
- G01R31/081—Locating faults in cables, transmission lines, or networks according to type of conductors
- G01R31/083—Locating faults in cables, transmission lines, or networks according to type of conductors in cables, e.g. underground
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
-
- 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
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Laying Of Electric Cables Or Lines Outside (AREA)
Abstract
The submarine cable Measuring error system based on robot that the invention discloses a kind of, including detection unit, repair unit, clear up unit, adjust unit, protective unit, storage element and central processing unit, detection unit is used to detect damaged condition and the damage position of submarine cable, repair the direct reparation that unit is used to carry out submerged cable by robot, cleaning unit is used to clear up the seawater near the sundries and purification submarine cable of submarine cable surface generation, unit is adjusted to be used to be adjusted by the depth and temperature change of measurement submarine cable, protective unit is used to detecting and driving the biology and article close to submarine cable, storage element is used to store the process repaired, central processing unit is used for the information by obtaining said units come analyzing processing, underwater reparation is carried out to control robot, processing；The present invention realizes the detection and repair of submarine cable by the setting of said units, protects submarine cable, increases the practicability of cable.
Description
Technical field
The present invention relates to submarine cable fields, and in particular to a kind of submarine cable Measuring error system based on robot.
Background technology
Submarine cable is the cable with wrapped with insulation, is laid on seabed, is used for telecommunication transmission.Submarine cable divides seabed
Communication cable and sea electric power cable.Modern submarine cable is all to use optical fiber as material, transmits phone and internet letter
Number.Submarine cable is laid in cable channel, is also laid immediately in water, and is laid on cable outer wall in water and is easy
When there is breakpoint in bind dirt, especially cable, due to being located at seabed, detection is more difficult.
With the application of submarine cable, submarine cable running environment is severe and sea fisheries frequent activity factor causes
Submarine cable damage problem also increasingly highlight.Not only maintenance time is long for the submarine cable of manual maintenance's damage, maintenance cost is high,
And security risk is big.Underwater robot can replace diver to carry out prolonged operation at deep-sea, at present both at home and abroad
There is the example of underwater robot cooperation submarine cable maintenance work, but the function of participating in operation is relatively easy, single, and it is automatic
Change, efficient requirement also has a certain distance.
Invention content
Goal of the invention：
The present invention be directed to present submarine cable Measuring error system cannot effectively detect determining cable damage position and
A kind of submarine cable Measuring error system based on robot that the problem of repair for directly carrying out seabed is proposed, can be effective
The present submarine cable Measuring error system of solution cannot effectively detect the damage position of determining cable and directly carry out sea
The problem of repair at bottom, reduces the trouble of cable maintenance, increases the practicability of extra large cable.
Technical solution：
A kind of submarine cable Measuring error system based on robot, including detection unit, reparation unit, cleaning unit, adjusting
Unit, protective unit, storage element and central processing unit, the detection unit is for the temperature by submarine cable, magnetic flux
Measure damaged condition and the damage position that submarine cable is detected with resistance；The reparation unit is used to carry out by robot underwater
Direct reparation, complete to repair by repairing to cable and replacement；The cleaning unit is for clearing up submarine cable surface
The sundries and the seawater near purification submarine cable of generation；The unit that adjusts is used to pass through the depth and temperature for measuring submarine cable
Degree changes to be adjusted, and intelligence adjusts and protection submarine cable；The protective unit is used for by way of sound wave and vibrations
To detect and drive biology and article close to submarine cable；The storage element is used to store the process repaired, and passes through detection
Breakage is come the reason of analyzing extra large cable damage；The central processing unit is used for by obtaining above-mentioned detection unit, cleaning unit
Carry out analyzing processing with the information of storage element, form corresponding instruction, underwater reparation, processing are carried out to control robot.
Further, the detection unit includes acquisition module and detection module, and the acquisition module is for absorbing seabed
The form of environment, submarine cable near cable and submarine cable is positioned by infrared ray；The detection module is for passing through survey
The change rate of amount temperature, magnetic flux and resistance judges damaged condition and the position of submarine cable.
Further, the reparation unit repairs submarine cable with soldering opening is repaiied by de-watering apparatus, described
De-watering apparatus includes blower pump, force (forcing) pump, package arm, cutting sheet, drying lamp and water permeable membrane.
Further, the cleaning unit includes cleaning disk, adsorption orifice and clarifier, and the cleaning disk is equipped with rolling
Driving wheel and cleaning sucker, the adsorption orifice are arranged in the outside of the cleaning disk, and the adsorption orifice side is detected equipped with seawater
Device.
Further, the adjusting unit includes depth module and thermal module, and the depth module is for passing through pressure
The depth of cable is measured, the depth of cable is adjusted by adjusting air bag and water storage；The thermal module is for measuring
The temperature of cable adjusts cable temperature by refrigerating and heating combined equipment.
Further, the protective unit includes sound wave module and shock module, and the sound wave module is for passing through sound wave
The object close to cable is measured, by adjusting the frequency of sound wave drives object；The shock module be used for through seawater and
Object is experienced in the vibrations of cable, hides object by changing cable height.
Further, the storage unit is used to record the process of cable maintenance, passes through the damaged location ring of detection cable
Border and damaged condition are come the reason of judging cable bad.
Further, the central processing unit judges that cable is tieed up by analyzing the information of storage unit and detection unit
Mode is repaiied, is judged by the information of detection unit, drawing three-dimensional image carries out the position of breakage by the form of coordinate
Confirm repair.
The present invention realizes following advantageous effect：
1. the present invention is by detection unit and repairs unit and completes the Measuring error of submarine cable, by temperature, magnetic flux and
Resistance completes the process of detection, is repaired using robot, the effective usage time and facility for increasing submarine cable
Property.
2. the present invention carries out the protection of submarine cable by adjusting unit, protective unit and storage unit, pass through adjusting
Submarine cable highly is protected with temperature, increases the service life of submarine cable.
Description of the drawings
The drawings herein are incorporated into the specification and forms part of this specification, and shows the implementation for meeting the disclosure
Example, and consistent with the instructions for explaining the principles of this disclosure.
Fig. 1 is submarine cable Measuring error system structure diagram of the present invention；
Fig. 2 is one embodiment of the invention detection unit structure diagram；
Fig. 3 is that one embodiment of the invention adjusts cellular construction block diagram；
Fig. 4 is one embodiment of the invention protective unit structure diagram；
Fig. 5 is de-watering apparatus structural schematic diagram of the present invention；
Fig. 6 is present invention cleaning disc structure schematic diagram.
Reference numeral：
Detection unit 010；Repair unit 020；Clear up unit 030；Adjust unit 040；Protective unit 050；Storage element 060；
Central processing unit 070；Acquisition module 011；Detection module 012；Depth module 041；Thermal module 042；Sound wave module 051；
Shock module 052；Drying lamp 21；De-watering apparatus 22；Cutting sheet 23；Wrap up arm 24；Water permeable membrane 25；Blower pump 26；Force (forcing) pump 27；
Clarifier 31；Adsorption orifice 32；Clear up disk 33；Scroll wheel 34；Clean sucker 35；Seawater detection device 36.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.
Referring to Fig. 1-6, the present invention provides a kind of technical solution, a kind of submarine cable Measuring error system based on robot
System, including detection unit 010, reparation unit 020, cleaning unit 030, adjusting unit 040, protective unit 050, storage unit
060 and central processing unit 070, wherein the detection unit 010 is for passing through the temperature of submarine cable, magnetic flux and resistance
It detects damaged condition and the damage position of submarine cable, is specifically damaged to detect extra large cable by measuring changed position
Position, the degree of the size reaction damage of the detection data；The unit 020 of repairing is used to carry out under water by robot
It directly repairs, completes to repair by repairing to cable and replacement, the cable is judged by the information of detection unit 010
Whether can be repaired, the cable of irreparability carries out artificial participation；The cleaning unit 030 is for clearing up submarine cable
The seawater near sundries and purification submarine cable that surface generates, by detecting the pollution level on submarine cable surface come to extra large cable
Carry out different degrees of cleaning；The unit 040 that adjusts is used to carry out by the depth and temperature change of measurement submarine cable
It adjusts, intelligence adjusts and protection submarine cable, changes temperature and the height of cable to prevent cable to be destroyed；The protective unit
050, for detecting and driving biology and article close to submarine cable by way of sound wave and vibrations, protects the peace of cable
Entirely, increase usage time；The storage unit 060 is used to store the process repaired, and extra large cable damage is analyzed by detecting breakage
Bad reason judges extent of corrosion according to the environment of surrounding and usage time；The central processing unit 070 is used for by obtaining
It takes the information of above-mentioned detection unit 010, cleaning unit 030 and storage unit 060 to carry out analyzing processing, forms corresponding instruction, come
Control robot carries out underwater reparation, processing.
Wherein, the detection unit 010 includes acquisition module 011 and detection module 012, and the acquisition module 011 is used for
It absorbs the environment near submarine cable, the form of submarine cable and submarine cable is positioned by infrared ray, as above-described embodiment
One of which embodiment, the mode of the intake is the intake of distance, and often advance certain distance is just into the acquisition of row information,
As the one of which embodiment of above-described embodiment, the mode of the intake is the intake of time, at regular intervals just into
Row intake, the environment include brightness, periphery biology and ingredient；The detection module 012 is used for through measuring temperature, magnetic flux
Judge damaged condition and the position of submarine cable with the change rate of resistance, the temperature, magnetic flux and resistance are bigger, connect
The position of the nearly submarine cable damage, judges the degree of submarine cable damage by detecting the amplitude of variation.
Wherein, the reparation unit 020 repairs submarine cable with soldering opening is repaiied by de-watering apparatus 22, described
De-watering apparatus 22 includes blower pump 26, force (forcing) pump 27, package arm 24, cutting sheet 23, drying lamp 21 and water permeable membrane 25, by described
Arm 24 is wrapped up to wrap up at cable bad, the seawater of breakage is removed using blower pump 26, is tieed up using the force (forcing) pump 27
Hold the pressure in confined space, after being dried by the drying lamp 21 carry out breakage repair, by breakage size,
Significance level and the complexity of connection are to determine whether can repair, and in the case of can not repairing, pass through the transport of robot, will
On the electric cable transporting to sea level of damage, artificial repair.
Wherein, the cleaning unit 030 includes cleaning disk 33, adsorption orifice 32 and clarifier 31, the cleaning disk 33
It is equipped with scroll wheel 34 and cleans sucker 35, the adsorption orifice 32 is arranged in the outside of the cleaning disk 33, the adsorption orifice
32 sides are equipped with seawater detection device 36, and the cleaning disk 33 wraps up the submarine cable, electricity is carried out by scroll wheel 34
Displacement on cable regularly cleans submarine cable surface using sucker 35 and adsorption orifice 32 is cleaned, prevents sea grass etc.
Substance accumulates the corrosion for causing cable surface for a long time, purifies neighbouring water source by clarifier 31 during cleaning
With in submarine cable surface smear nursing solution.
Wherein, the adjusting unit 040 includes depth module 041 and thermal module 042, and the depth module 041 is used for
The depth that cable is measured by pressure adjusts the depth of cable by adjusting air bag and water storage, passes through the control of depth
It makes to keep the pressure suffered by cable close, prevents some region of damage；The thermal module 042 is used to measure the temperature of cable
Degree adjusts cable temperature by refrigerating and heating combined equipment, and the variation of temperature is insulation decline, the leakage of electric current because of cable, is led to
Cross and timely adjust temperature and prevent the breakage of cable, when the temperature exceeds preset value, by early warning come control robot into
Row repair.
Wherein, the protective unit 050 includes sound wave module 051 and shock module 052, and the sound wave module 051 is used for
The object close to cable is measured by sound wave, object is driven by adjusting the frequency of sound wave, improves the frequency of sound wave to drive
Biology is caught up with, the close of biology is prevented, avoids the destruction of cable；The shock module 052 is used for the shake by seawater and cable
It moves to experience object, hides object by changing cable height, prevent from colliding.
Wherein, the storage unit is used to record the process of cable maintenance, including the time of repair, the wiring of connection and company
The mode connect the reason of judging cable bad, utilizes storage by the damaged location environment and damaged condition of detection cable
Maintenance process judges whether maintenance mode correct, when next same region is damaged, by change maintenance mode come
It repairs.
Wherein, the central processing unit 070 judges cable by analyzing the information of storage unit and detection unit 010
Maintenance mode judges that drawing three-dimensional image carries out breakage by the form of coordinate by the information of detection unit 010
Location confirmation repair.
The above embodiments merely illustrate the technical concept and features of the present invention, and the purpose is to allow the skill for being familiar with the technical field
Art personnel can understand the content of the present invention and implement it accordingly, and can not be limited the scope of the invention with this.All bases
Equivalent changes or modifications made by spirit of the invention, should be covered by the protection scope of the present invention.
Claims (8)
1. a kind of submarine cable Measuring error system based on robot, including detection unit, reparation unit, cleaning unit, tune
Save unit, protective unit, storage element and central processing unit, it is characterised in that：The detection unit is used for through seabed electricity
Temperature, magnetic flux and the resistance of cable come detect submarine cable damaged condition and damage position；The reparation unit is for passing through
Robot carries out underwater direct reparation, completes to repair by repairing to cable and replacement；The cleaning unit is for clear
Manage the seawater near the sundries and purification submarine cable that submarine cable surface generates；The adjusting unit is used for by measuring seabed
The depth and temperature change of cable is adjusted, and intelligence adjusts and protection submarine cable；The protective unit is for passing through sound
Wave and the mode of vibrations detect and drive biology and article close to submarine cable；The storage element is used to store repairing
Process analyzes the reason of extra large cable is damaged by detecting breakage；The central processing unit is used for by obtaining above-mentioned detection
The information of unit, cleaning unit and storage element carrys out analyzing processing, forms corresponding instruction, is carried out under water to control robot
It repairs, processing.
2. a kind of submarine cable Measuring error system based on robot according to claim 1, it is characterised in that：It is described
Detection unit includes acquisition module and detection module, and the acquisition module is used to absorb environment, seabed electricity near submarine cable
The form of cable and submarine cable is positioned by infrared ray；The detection module is used for through measuring temperature, magnetic flux and resistance
Change rate judges damaged condition and the position of submarine cable.
3. a kind of submarine cable Measuring error system based on robot according to claim 1, it is characterised in that：It is described
It repairs unit to repair submarine cable with soldering opening is repaiied by de-watering apparatus, the de-watering apparatus includes blower pump, adds
Press pump, package arm, cutting sheet, drying lamp and water permeable membrane.
4. a kind of submarine cable Measuring error system based on robot according to claim 1, it is characterised in that：It is described
It includes cleaning disk, adsorption orifice and clarifier to clear up unit, and the cleaning disk is equipped with scroll wheel and cleans sucker, the suction
Attached mouth is arranged in the outside of the cleaning disk, and the adsorption orifice side is equipped with seawater detection device.
5. a kind of submarine cable Measuring error system based on robot according to claim 1, it is characterised in that：It is described
It includes depth module and thermal module to adjust unit, and the depth module is used to measure the depth of cable by pressure, passes through
Air bag and water storage are adjusted to adjust the depth of cable；The thermal module is used to measure the temperature of cable, passes through refrigerated medium
Thermal adjusts cable temperature.
6. a kind of submarine cable Measuring error system based on robot according to claim 1, it is characterised in that：It is described
Protective unit includes sound wave module and shock module, and the sound wave module is used to measure the object close to cable by sound wave,
Object is driven by adjusting the frequency of sound wave；The shock module experiences object for the vibrations by seawater and cable,
Hide object by changing cable height.
7. a kind of submarine cable Measuring error system based on robot according to claim 1, it is characterised in that：It is described
Storage unit is used to record the process of cable maintenance, judges cable by the damaged location environment and damaged condition of detection cable
The reason of damage.
8. a kind of submarine cable Measuring error system based on robot according to claim 1, it is characterised in that：It is described
Central processing unit judges cable maintenance mode by analyzing the information of storage unit and detection unit, passes through detection unit
Information judges that drawing three-dimensional image is repaired by the form of coordinate to carry out the location confirmation of breakage.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810605456.9A CN108680828A (en) | 2018-06-13 | 2018-06-13 | A kind of submarine cable Measuring error system based on robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810605456.9A CN108680828A (en) | 2018-06-13 | 2018-06-13 | A kind of submarine cable Measuring error system based on robot |
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| Publication Number | Publication Date |
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| CN108680828A true CN108680828A (en) | 2018-10-19 |
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|---|---|---|---|
| CN201810605456.9A Withdrawn CN108680828A (en) | 2018-06-13 | 2018-06-13 | A kind of submarine cable Measuring error system based on robot |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110606178A (en) * | 2019-10-28 | 2019-12-24 | 南京工程学院 | Submarine observation underwater robot based on trinocular vision and control method thereof |
| CN112152163A (en) * | 2020-09-21 | 2020-12-29 | 中国船舶科学研究中心 | Device for repairing cable insulation layer in deep sea in situ |
| CN112578238A (en) * | 2020-12-01 | 2021-03-30 | 甘肃电器科学研究院 | Novel cable detection and repair integrated system |
| CN113285386A (en) * | 2021-05-26 | 2021-08-20 | 天津市信友工程机械科技有限责任公司 | Submarine cable sealing section separation box |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110606178A (en) * | 2019-10-28 | 2019-12-24 | 南京工程学院 | Submarine observation underwater robot based on trinocular vision and control method thereof |
| CN110606178B (en) * | 2019-10-28 | 2024-04-23 | 南京工程学院 | Submarine observation underwater robot based on three-eye vision and control method thereof |
| CN112152163A (en) * | 2020-09-21 | 2020-12-29 | 中国船舶科学研究中心 | Device for repairing cable insulation layer in deep sea in situ |
| CN112578238A (en) * | 2020-12-01 | 2021-03-30 | 甘肃电器科学研究院 | Novel cable detection and repair integrated system |
| CN113285386A (en) * | 2021-05-26 | 2021-08-20 | 天津市信友工程机械科技有限责任公司 | Submarine cable sealing section separation box |
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Effective date of registration: 20210107 Address after: 511400 No.63 Jieyuan Road, Haibang Road, Panyu District, Guangzhou City, Guangdong Province Applicant after: Shi Yanhui Address before: Room 5-1603, central Dijing, Xianfu street, Taicang City, Suzhou City, Jiangsu Province Applicant before: Cheng Xiangbao |
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Application publication date: 20181019 |