CN109625220A - There are cable remote underwater robot cruising inspection system and a method with light, sound, magnetic machine - Google Patents
There are cable remote underwater robot cruising inspection system and a method with light, sound, magnetic machine Download PDFInfo
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- CN109625220A CN109625220A CN201811297363.0A CN201811297363A CN109625220A CN 109625220 A CN109625220 A CN 109625220A CN 201811297363 A CN201811297363 A CN 201811297363A CN 109625220 A CN109625220 A CN 109625220A
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- underwater robot
- workboat
- submarine cable
- underwater
- cable
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
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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
- H02G1/06—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for laying cables, e.g. laying apparatus on vehicle
- H02G1/10—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for laying cables, e.g. laying apparatus on vehicle in or under water
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
- B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
- B63G2008/005—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned remotely controlled
- B63G2008/007—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned remotely controlled by means of a physical link to a base, e.g. wire, cable or umbilical
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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
- H02G9/00—Installations of electric cables or lines in or on the ground or water
- H02G9/02—Installations of electric cables or lines in or on the ground or water laid directly in or on the ground, river-bed or sea-bottom; Coverings therefor, e.g. tile
Abstract
The invention discloses a kind of band light, sound, magnetic machines cable remote underwater robot cruising inspection system and method, is related to submarine cable inspection field.Current underwater robot cannot take into account the reliability and inspection effect of work.The present invention includes underwater robot, workboat, and workboat is connected by umbilical cables with underwater robot；The underwater robot includes ROV ontology, floating body, propeller, illumination and camera, mechanical arm, underwater positioning device, footing；ROV underwater robot is used in the technical program, propeller for ship and Side Thrusters are continuously run always, prevent the umbilical cables of underwater robot from being twisted in propeller；And ROV underwater is directly powered by workboat, the inspection information that underwater robot obtains passes workboat back by umbilical cables, reliable operation, it prevents from losing, underwater robot can carry the instruments such as mechanical arm simultaneously, inspection quality is effectively improved, for uncertain situation, can be determined using instrument.
Description
Technical field
The present invention relates to submarine cable inspection field, more particularly to has cable remote underwater robot with light, sound, magnetic machine
Cruising inspection system and method.
Background technique
Domestic coastal region sub-marine situations are complicated, and Bohai and Yellow Seas, the East Sea and the underwater geological conditions difference at the South Sea are very big,
Submarine cable is laid according to engineering practice, underwater laying place and laying environment are different.Due to one's early years underwater work
The limitation of journey equipment, the submarine cable of early stage laying are not applied corresponding on the sea bed arranged in a manner of surface
Safeguard measure, easily by the destruction of natural environment and mankind's activity.
Subsea power submarine cable needs timed maintenance after putting into operation, due to the limitation of function of human body and diving apparatus, sea
Bottom cable O&M operating personnel is difficult dive and carries out maintenance and inspection to operation working condition of the bottom 40m or less to submarine cable.
In recent years, as underwater human reriability, stability and safety are continuously improved, unmanned underwater is used
People, which carries out the inspection of submarine cable O&M and fault-finding, becomes possibility.Unmanned underwater robot (U U V, U nmanned
Underwater Vehicle) be also referred to as UAV navigation, be it is a kind of work in it is underwater carry out limit operation nobody
Robot system can replace artificial long-time under water in the waters of highly dangerous environment, contaminated environment and zero visibility
Operation.Unmanned underwater robot be generally divided into cable remote underwater robot (ROV, Remote Operated Vehicle) and
Autonomous underwater robot (AUV, Autonomous Underwater Vehicle) two major classes.Their maximum differences are ROV
It is connect by umbilical cord submarine cable with surface mother ship, to realize that energy resource supply and signal quickly transmit, therefore operator can lead to
Flow surface lash ship monitor sees picture or other detection datas under the Real-time Water that ROV is shot, and controls the water Air China of robot
Row, but it is limited by umbilical cord submarine cable, and usual job area is limited and navigation flexibility ratio is poor, vulnerable to marine vessel activity shadow
It rings, it is also possible to submarine cable winding occur, fracture causes robot to damage or lose.AUV can then be detached from surface mother ship support,
Have many advantages, such as that energy independence, maneuverability, concealment are strong, but it is to by being wirelessly connected with host, once communication module
Damage, or be interfered, it is possible to it loses, poor reliability；In addition, AUV by storage battery power supply, powers limited, under water when
Between be restricted, and can not also carry the instruments such as heavy weight mechanical arm, influence the inspection effect to submarine cable.Current water
Lower robot cannot take into account the reliability and inspection effect of work.
Summary of the invention
The technical problem to be solved in the present invention and the technical assignment of proposition are to be improved and improved to prior art,
There is provided has cable remote underwater robot cruising inspection system and a method with light, sound, magnetic machine, with reach take into account work reliability and
The purpose of inspection effect.For this purpose, the present invention takes following technical scheme.
There are cable remote underwater robot cruising inspection system, including underwater robot and an and underwater with light, sound, magnetic machine
The workboat that people is connected, workboat are connected with underwater robot by umbilical cables to control underwater robot and provide electric energy water supply
Lower robot；The underwater robot includes ROV ontology, the floating body set on ROV body upper part, pushing away on ROV ontology
Into device, the illumination set on ROV ontology and camera, set on the Electromagnetic measurements instrument and mechanical arm of ROV body portion, use
Underwater positioning device in underwater robot location, the footing below ROV ontology；When work, according to preparatory seabed electricity
Cable routing diagram sails underwater robot to inspection operation in conjunction with workboat GNSS device and underwater robot underwater positioning device
Point neighbouring position；After underwater robot is lauched, Electromagnetic measurements instrument sweep forward mode searches submarine cable is opened, when searching
After seeking submarine cable, workboat controls the orientation of underwater robot, and two groups of coils of Electromagnetic measurements instrument is made to be in quilt
It surveys above submarine cable；After two groups of coils of Electromagnetic measurements instrument are in above tested submarine cable, by sweep forward mould
Formula is changed to tracing mode, to track submarine cable, measures its buried depth；Workboat follows underwater robot to navigate by water, the spiral of ship
Paddle and Side Thrusters are continuously run always, prevent the umbilical cables of underwater robot from being twisted in propeller, at the same umbilical cables at interval of
Certain distance configures weight, to reduce umbilical cables by thrust or buoyancy effect；The information of underwater robot is transmitted by umbilical cables
To workboat, workboat in time saves data into memory.ROV underwater robot, the spiral shell of ship are used in the technical program
Rotation paddle and Side Thrusters are continuously run always, prevent the umbilical cables of underwater robot from being twisted in propeller；And ROV underwater by
Workboat is directly powered, and the inspection information that underwater robot obtains passes workboat back by umbilical cables, and reliable operation prevents from losing
It loses, while underwater robot can carry the instruments such as mechanical arm, effectively improve inspection quality, for uncertain situation, can adopt
It is determined with instrument.
As optimization technique means: the footing is made of two stabilizer blades arranged symmetrically of left and right, the rear and front end of two stabilizer blades
It is upturned.Stabilizer blade can prevent underwater robot from falling into mud, and the tilting at both ends can reduce resistance.
As optimization technique means: the front of the ROV ontology is equipped with first mechanical arm and second mechanical arm, described
First mechanical arm, second mechanical arm and ROV ontology detachable connection.Depending on the difference of task, corresponding mechanical arm is selected, is used
Flexibly, conveniently.
As optimization technique means: the head of the first mechanical arm is equipped with two pairs of clamp, and each pair of clamp are by two arcs
Shape claw composition, the setting of two claw staggered relatives.The claw of arc can be pushed away, lifts, draws, be sawed.
As optimization technique means: the opposite side of two claws is equipped with sawtooth.Sawtooth can be used for sawline cable etc..
As optimization technique means: it is disconnected to prevent propeller from twisting that the outside of the propeller of the workboat is equipped with protective cover
Umbilical cables.
It is a further object to provide a kind of band light, sound, magnetic machines a cable remote underwater robot inspection system
The operational method of system comprising following steps:
1) workboat carries underwater robot and reaches specified sea area；
2) after underwater robot checks, enter the slow dive of water；Umbilical cables configure weight at interval of certain distance, to reduce
Negative effect of the umbilical cables by thrust or buoyancy
It 3) will in conjunction with workboat GNSS device and underwater robot underwater positioning device according to preparatory submarine cable routing diagram
Underwater robot is sailed to inspection setting neighbouring position；
4) it opens Electromagnetic measurements instrument and searches submarine cable, after searching submarine cable, workboat controls underwater
The orientation of people is in two groups of coils of Electromagnetic measurements instrument above tested submarine cable；
5) after two groups of coils of Electromagnetic measurements instrument are in above tested submarine cable, submarine cable is tracked, it is measured and buries
It is deep；
6) underwater robot all appts parameter and video information by umbilical cables are transferred to underwater robot control in inspection
Room and workboat driver's cabin, and data are saved in time；
7) according to the instruction of preparatory submarine cable routing diagram and Electromagnetic measurements instrument, workboat controls water by umbilical cables
Lower Robot submarine cable cruise, workboat are navigated by water with underwater robot；
8) workboat utilizes sonar and Electromagnetic measurements device, determines submarine cable position, buried depth situation.It is swept by adjusting
The case where retouching sonar, showing submarine cable and seabed section；By adjusting optical device, observation submarine cable routes periphery feelings
Condition；Situation and the position for determining submarine cable, surface damage, overcover, bearing, suspended span situation and position including submarine cable
It sets；
9) when submarine cable overcover is flushed away or has the foreign matter for seriously threatening submarine cable safety, underwater robot stops
Advance, abnormal point close up is detected using optical device or acoustic equipment, photography, record coordinate；If underwater robot portable machine
Tool arm then removes small obstacle using mechanical arm；
10) routing of record submarine cable and depth registration when underwater robot cruise detection, and remember in workboat GNSS system
Record underwater robot Grid Track；
11) underwater robot after hours, is recycled；
12) underwater robot is recovered to deck；Check whether underwater human body and attachment are intact, and rinsed with fresh water,
It is kept in dark place.
As optimization technique means: underwater robot is suspended in the surface of submarine cable when inspection operation, and leaves sea
Bed certain altitude；Forward speed is less than 2kn when underwater robot operation, according to underwater visibility and equipment sample rate, before adjustment
Into speed.
As optimization technique means: when underwater robot routes inspection along submarine cable, workboat follows underwater robot
Navigation, propeller for ship and Side Thrusters are continuously run always, prevent the umbilical cables of underwater robot from being twisted in propeller.
As optimization technique means: when work, 4 propellers according to vector principle control underwater robot it is forward and backward, it is left,
Right four direction operation, 1 propeller control are run above and below.
The utility model has the advantages that using ROV underwater robot in the technical program, propeller for ship and Side Thrusters are continuously transported always
Turn, prevents the umbilical cables of underwater robot from being twisted in propeller；And ROV underwater is directly powered by workboat, underwater machine
The inspection information that device people obtains passes workboat back by umbilical cables, and reliable operation prevents from losing, while underwater robot can carry
The instruments such as mechanical arm effectively improve inspection quality, for uncertain situation, can be determined using instrument.This technology side
Case realizes the observation to submarine cable ontology and periphery situation, it was demonstrated that its ontology is not destroyed by external force, periphery is not having an impact it just
The barrier often to work improves the reliability and safety of submarine cable operation and maintenance.
Detailed description of the invention
Fig. 1 is structural schematic diagram of the invention.
Fig. 2 is flow chart of the invention.
In figure: 1-ROV ontology；2- floating body；3- propeller；4- illumination and camera；5- mechanical arm；6- submarine cable；
7- umbilical cables；8- sonar；9- footing；10- Electromagnetic measurements instrument.
Specific embodiment
Technical solution of the present invention is described in further detail below in conjunction with Figure of description.
As shown in Figure 1, having a cable remote underwater robot cruising inspection system with light, sound, magnetic machine, it is characterised in that: including
Underwater robot and the workboat being connected with underwater robot, workboat are connected with underwater robot by umbilical cables 7 to control
Underwater robot simultaneously provides electric energy to underwater robot；The underwater robot includes ROV ontology 1, is set on ROV ontology 1
Floating body 2, the propeller 3 on ROV ontology 1, the illumination set on ROV ontology 1 and the camera 4 in portion are set to ROV ontology 1
The Electromagnetic measurements instrument 10 and mechanical arm 5 of front, for underwater robot location underwater positioning device, be set to ROV sheet
The footing 9 of 1 lower section of body；When work, according to preparatory 6 routing diagram of submarine cable, in conjunction with workboat GNSS device and underwater
People's underwater positioning device sails underwater robot to inspection setting neighbouring position；After underwater robot is lauched, electromagnetism sense is opened
10 sweep forward mode searches submarine cable 6 of detection instrument is answered, after searching submarine cable 6, workboat controls underwater
The orientation of people makes two groups of coils of Electromagnetic measurements instrument 10 be in tested 6 top of submarine cable；When Electromagnetic measurements instrument
After 10 two groups of coils of device are in tested 6 top of submarine cable, sweep forward mode is changed to tracing mode, to track seabed electricity
Cable 6 measures its buried depth；Workboat follows underwater robot to navigate by water, and propeller for ship and Side Thrusters are continuously run always, prevents water
The umbilical cables 7 of lower robot are entered in propeller by strand, while umbilical cables 7 configure weight at interval of certain distance, to reduce umbilical cord
Cable 7 is by thrust or buoyancy effect；The information of underwater robot is transferred to workboat by umbilical cables 7, and workboat is in time by data
It saves into memory.ROV underwater robot is used in the technical program, propeller for ship and Side Thrusters are continuously run always,
Prevent the umbilical cables 7 of underwater robot from being entered in propeller by strand；And ROV underwater is directly powered by workboat, underwater
The inspection information that people obtains passes workboat back by umbilical cables 7, and reliable operation prevents from losing, while underwater robot can carry
The instruments such as mechanical arm 5, are effectively improved inspection quality, for uncertain situation, can be determined using instrument.
Underwater robot is fallen into mud in order to prevent, and the footing 9 is made of two stabilizer blades arranged symmetrically of left and right, and two
The rear and front end of foot is upturned.The tilting at both ends can reduce resistance.
To improve the flexibility used, the front of the ROV ontology 1 is equipped with first mechanical arm 5 and second mechanical arm 5,
First mechanical arm 5, second mechanical arm 5 and 1 detachable connection of ROV ontology.Depending on the difference of task, corresponding machine is selected
Tool arm 5, using flexible, conveniently.
Head for the function of improving mechanical arm 5, the first mechanical arm 5 is equipped with two pairs of clamp, and each pair of clamp are by two
A arc-shaped claws composition, the setting of two claw staggered relatives.The claw of arc can be pushed away, lifts, draws, be sawed.
Opposite side for the inspection and maintenance for realizing major diameter submarine cable 6, two claws is equipped with sawtooth.Sawtooth can be used for
Sawline cable etc..
To further prevent twisting disconnected umbilical cables 7, the outside of the propeller of the workboat is equipped with protective cover to prevent spiral shell
It revolves paddle and twists disconnected umbilical cables 7.
Have cable remote underwater robot to the operational method of submarine cable comprising following steps:
1) workboat carries underwater robot and reaches specified sea area；
2) after underwater robot checks, enter the slow dive of water；Umbilical cables 7 configure weight at interval of certain distance, to reduce
Negative effect of the umbilical cables 7 by thrust or buoyancy
3) according to preparatory 6 routing diagram of submarine cable, in conjunction with workboat GNSS device and underwater robot underwater positioning device,
Underwater robot is sailed to inspection setting neighbouring position；
4) it opens Electromagnetic measurements instrument 10 and searches submarine cable 6, after searching submarine cable 6, workboat control is underwater
The orientation of robot makes two groups of coils of Electromagnetic measurements instrument 10 be in tested 6 top of submarine cable；
5) after 10 two groups of coils of Electromagnetic measurements instrument are in tested 6 top of submarine cable, submarine cable 6, measurement are tracked
Its buried depth；
6) underwater robot all appts parameter and video information by umbilical cables 7 are transferred to underwater robot control in inspection
Room processed and workboat driver's cabin, and data are saved in time；
7) according to the instruction of preparatory 6 routing diagram of submarine cable and Electromagnetic measurements instrument 10, workboat is controlled by umbilical cables 7
Underwater robot processed cruises along submarine cable 6, and workboat is navigated by water with underwater robot；
8) workboat utilizes sonar and Electromagnetic measurements device, determines 6 position of submarine cable, buried depth situation.It is swept by adjusting
The case where retouching sonar, showing submarine cable 6 and seabed section；By adjusting optical device, observation submarine cable 6 routes periphery feelings
Condition；Situation and the position for determining submarine cable 6, surface damage, overcover, bearing, suspended span situation and position including submarine cable 6
It sets；
9) when 6 overcover of submarine cable is flushed away or has the foreign matter for seriously threatening 6 safety of submarine cable, underwater robot stops
Only advance, abnormal point close up is detected using optical device or acoustic equipment, photography, record coordinate；If underwater robot carries
Mechanical arm 5 then removes small obstacle using mechanical arm 5；
10) routing of record submarine cable 6 and depth registration when underwater robot cruise detection, and in workboat GNSS system
Record underwater robot Grid Track；
11) underwater robot after hours, is recycled；
12) underwater robot is recovered to deck；Check whether underwater human body and attachment are intact, and rinsed with fresh water,
It is kept in dark place.
The operational method key step of underwater robot is as shown in Figure 2.
Underwater robot is suspended in the surface of submarine cable 6 when inspection operation, and leaves sea bed certain altitude；Under water
Forward speed is less than 2kn when robot manipulating task, according to underwater visibility and equipment sample rate, adjusts forward speed.
Underwater robot along submarine cable 6 route inspection when, workboat follows underwater robot to navigate by water, propeller for ship and
Side Thrusters is continuously run always, prevents the umbilical cables 7 of underwater robot from being entered in propeller by strand.
When work, 4 propellers 3 control underwater robot front, rear, left and right four direction according to vector principle and run, and 1
A propeller 3 controls upper and lower operation.
Figure 1 above, shown in 2 with light, sound, magnetic machine have cable remote underwater robot cruising inspection system and method is this hair
Bright specific embodiment has embodied substantive distinguishing features of the present invention and progress, needs can be used according to actual, in the present invention
Enlightenment under, the equivalent modifications of shape, structure etc., the column in the protection scope of this programme are carried out to it.
Claims (10)
1. having a cable remote underwater robot cruising inspection system with light, sound, magnetic machine, it is characterised in that: including underwater robot and
The workboat being connected with underwater robot, workboat are connected with underwater robot by umbilical cables (7) to control underwater robot
And electric energy is provided to underwater robot；The underwater robot includes ROV ontology (1), is set to the floating of ROV ontology (1) top
Body (2), the propeller (3) being set on ROV ontology (1), the illumination for being set to ROV ontology (1) and camera (4) are set to ROV sheet
The Electromagnetic measurements instrument (10) and mechanical arm (5) of body (1) front, for underwater robot location underwater positioning device,
Footing (9) below ROV ontology (1)；When work, according to preparatory submarine cable (6) routing diagram, in conjunction with workboat
GNSS device and underwater robot underwater positioning device sail underwater robot to inspection setting neighbouring position；Underwater
After people is lauched, Electromagnetic measurements instrument (10) sweep forward mode searches submarine cable (6) is opened, when searching submarine cable
(6) after, workboat controls the orientation of underwater robot, and two groups of coils of Electromagnetic measurements instrument (10) is made to be in tested seabed
Above cable (6)；After (10) two groups of coils of Electromagnetic measurements instrument are in above tested submarine cable (6), by preceding to searching
Rope mode is changed to tracing mode, to track submarine cable (6), measures its buried depth；Workboat follows underwater robot to navigate by water, ship
Propeller and Side Thrusters continuously run always, prevent the umbilical cables (7) of underwater robot from being entered in propeller by strand, while umbilical cord
Cable (7) configures weight at interval of certain distance, to reduce umbilical cables (7) by thrust or buoyancy effect；The information of underwater robot
It is transferred to workboat by umbilical cables (7), workboat in time saves data into memory.
2. band light according to claim 1, electricity, magnetic machine has cable remote underwater robot cruising inspection system, feature exists
In: the footing (9) is made of two stabilizer blades arranged symmetrically of left and right, and the rear and front end of two stabilizer blades is upturned.
3. band light according to claim 2, sound, magnetic machine has cable remote underwater robot cruising inspection system, feature exists
In: the front of the ROV ontology (1) is equipped with first mechanical arm (5) and second mechanical arm (5), the first mechanical arm
(5), second mechanical arm (5) and ROV ontology (1) detachable connection.
4. band light according to claim 3, sound, magnetic machine has cable remote underwater robot cruising inspection system, feature exists
In: the head of the first mechanical arm (5) is equipped with two pairs of clamp, and each pair of clamp are made of two arc-shaped claws, two claw phases
To being staggered.
5. band light according to claim 4, sound, magnetic machine has cable remote underwater robot cruising inspection system, feature exists
In: the opposite side of two claws is equipped with sawtooth.
6. band light according to claim 5, sound, magnetic machine has cable remote underwater robot cruising inspection system, feature exists
In: the outside of the propeller of the workboat is equipped with protective cover to prevent propeller from twisting disconnected umbilical cables (7).
7. having cable remote underwater robot inspection with light, sound, magnetic machine using described in claim 1-6 any claim
The operational method of system, it is characterised in that the following steps are included:
1) workboat carries underwater robot and reaches specified sea area；
2) after underwater robot checks, enter the slow dive of water；Umbilical cables (7) configure weight at interval of certain distance, to subtract
The negative effect of few umbilical cables (7) by thrust or buoyancy
3) it according to preparatory submarine cable (6) routing diagram, is filled in conjunction with workboat GNSS device and underwater robot Underwater Navigation
It sets, underwater robot is sailed to inspection setting neighbouring position；
4) Electromagnetic measurements instrument (10) are opened and searches submarine cable (6), after searching submarine cable (6), workboat control
The orientation of underwater robot processed is in two groups of coils of Electromagnetic measurements instrument (10) above tested submarine cable (6)；
5) after (10) two groups of coils of Electromagnetic measurements instrument are in above tested submarine cable (6), submarine cable is tracked
(6), its buried depth is measured；
6) underwater robot all appts parameter and video information by umbilical cables (7) are transferred to underwater robot in inspection
Control room and workboat driver's cabin, and data are saved in time；
7) according to the instruction of preparatory submarine cable (6) routing diagram and Electromagnetic measurements instrument (10), workboat passes through umbilical cord
Cable (7) controls underwater robot and cruises along submarine cable (6), and workboat is navigated by water with underwater robot；
8) workboat utilizes sonar and Electromagnetic measurements device, determines submarine cable (6) position, buried depth situation；
The case where by adjusting scanning sonar, showing submarine cable (6) and seabed section；By adjusting optical device, observation sea
Bottom cable (6) routes periphery situation；Situation and the position for determining submarine cable (6), surface damage including submarine cable (6),
Overcover, bearing, suspended span situation and position；
9) when submarine cable (6) overcover is flushed away or has the foreign matter for seriously threatening submarine cable (6) safety, underwater
People halts, and is detected using optical device or acoustic equipment to abnormal point close up, photography, record coordinate；If underwater robot
It carries mechanical arm (5), then removes small obstacle using mechanical arm (5)；
10) record submarine cable (6) routing and depth registration when underwater robot cruise detection, and in workboat GNSS system
Middle record underwater robot Grid Track；
11) underwater robot after hours, is recycled；
12) underwater robot is recovered to deck；Check whether underwater human body and attachment are intact, and rinsed with fresh water,
It is kept in dark place.
8. according to claim 7 have cable remote underwater robot to the operational method of submarine cable, it is characterised in that:
Underwater robot is suspended in the surface of submarine cable (6) when inspection operation, and leaves sea bed certain altitude；Underwater robot
Forward speed is less than 2kn when operation, according to underwater visibility and equipment sample rate, adjusts forward speed.
9. according to claim 8 have cable remote underwater robot to the operational method of submarine cable, it is characterised in that: water
When lower Robot submarine cable (6) routing inspection, workboat follows underwater robot to navigate by water, and propeller for ship and Side Thrusters begin
It continuously runs eventually, prevents the umbilical cables (7) of underwater robot from being entered in propeller by strand.
10. according to claim 8 have cable remote underwater robot to the operational method of submarine cable, it is characterised in that:
When work, 4 propellers (3) control underwater robot front, rear, left and right four direction according to vector principle and run, 1 propulsion
The upper and lower operation of device (3) control.
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| CN111422330A (en) * | 2020-03-17 | 2020-07-17 | 国网山东省电力公司青岛市黄岛区供电公司 | Magnetic force couple formula seabed is carried cable device |
| CN111703559A (en) * | 2020-06-23 | 2020-09-25 | 哈尔滨工程大学 | ROV detection system and detection method for searching underwater missing person |
| CN112578807A (en) * | 2019-09-29 | 2021-03-30 | 刘春梅 | Control method for flight detection ship |
| CN113447988A (en) * | 2021-06-12 | 2021-09-28 | 华中科技大学 | Electromagnetic search-positioning-tracking integrated detection method for submarine cable |
| CN113485387A (en) * | 2021-07-23 | 2021-10-08 | 中海石油(中国)有限公司 | Autonomous patrol method for patrol robot and patrol robot with same |
| US20210374574A1 (en) * | 2020-05-26 | 2021-12-02 | International Business Machines Corporation | Generating strategy based on risk measures |
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