CN111891319A - Optical fiber management device and method for full-sea-depth autonomous remote control underwater robot - Google Patents
Optical fiber management device and method for full-sea-depth autonomous remote control underwater robot Download PDFInfo
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- CN111891319A CN111891319A CN202010678994.8A CN202010678994A CN111891319A CN 111891319 A CN111891319 A CN 111891319A CN 202010678994 A CN202010678994 A CN 202010678994A CN 111891319 A CN111891319 A CN 111891319A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/34—Diving chambers with mechanical link, e.g. cable, to a base
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- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B6/00—Light guides; Structural details of arrangements comprising light guides and other optical elements, e.g. couplings
- G02B6/44—Mechanical structures for providing tensile strength and external protection for fibres, e.g. optical transmission cables
Abstract
The invention relates to the technical field of underwater robots, in particular to an optical fiber management device and method for an all-sea-depth autonomous remote control underwater robot. The device comprises an armored optical fiber cable disc, armored optical fibers, a water surface end optical fiber compensator, micro optical fibers and an underwater robot end optical fiber releaser, wherein the armored optical fiber cable disc is arranged on a mother ship, and the underwater robot end optical fiber releaser is arranged on an underwater robot; one end of the armored optical fiber is wound on the armored optical fiber cable tray and is connected with a control system on the mother work ship; the other end of the armored optical fiber is connected with the water surface end optical fiber compensator; one end of the micro optical fiber is wound on the water surface end optical fiber compensator and is connected with the armored optical fiber; the other end of the micro optical fiber is wound on the underwater robot end optical fiber releaser and is connected with the underwater robot. The invention has the characteristics of compact structure, reliability, practicability, convenient operation, effective management, low use cost, high safety and strong universality.
Description
Technical Field
The invention relates to the technical field of underwater robots, in particular to an optical fiber management device and method for an all-sea-depth autonomous remote control underwater robot.
Background
The optical fiber is an effective medium for realizing high-speed stable transmission of optical signals and plays a great role in the modern industry. The optical fiber has the characteristics of thinness, light weight and the like, and by means of the optical fiber communication function, the underwater robot can realize real-time feedback of the state of the underwater robot and detection or operation environment of the underwater robot through the optical fiber system, so that an operator can control the underwater robot in real time to realize a specific underwater task, and extra additional force influence cannot be generated due to hydrodynamic force influence. However, the optical fiber is fragile, is bent and broken easily, and is easy to cause accidental interruption of transmission signals, and particularly under the complex underwater environment, if the management is not proper, the problem of application is easy to bring. The full-sea-depth autonomous remote control underwater robot is a new-concept underwater robot which integrates the technical advantages of the autonomous underwater robot and the remote control underwater robot into a whole by means of micro optical fibers and can cover all ocean depths (the maximum depth can reach 11000 meters) in the world, wherein optical fiber management is an important key technology. The effectiveness of optical fiber management is a precondition for realizing the basic mission of the full-sea-depth autonomous remote control underwater robot. However, from heavy seas to deep water areas with deep currents, up to the deep sea with complicated tens of thousands of meters deep water, the fine optical fiber cable needs to overcome the potential problems caused by breaking, breaking or signal attenuation due to many factors, and to ensure the normal operation of the underwater robot communication link. The existing land and shallow water optical fiber management method cannot meet the requirements of stable transmission of optical signals with depth exceeding ten thousand meters and long distance, and a practical and reliable technical means and device are needed to realize reasonable arrangement and flexible operation of optical fiber micro cables and guarantee effective underwater work of the full-sea-depth autonomous remote control underwater robot.
Disclosure of Invention
In view of the above problems, the present invention aims to provide an optical fiber management device and method for an all-sea-depth autonomous remote-control underwater robot, which can effectively manage a large-depth and long-distance micro optical cable, ensure that the underwater robot is kept in a stable and reliable optical fiber communication state during a task execution process, and realize efficient detection and operation of the ten thousand-meter deep-brillouin seabed.
In order to achieve the purpose, the invention adopts the following technical scheme:
an optical fiber management device of a full-sea-depth autonomous remote control underwater robot comprises an armored optical fiber cable disc, armored optical fibers, a water surface end optical fiber compensator, micro optical fibers and an underwater robot end optical fiber releaser, wherein the armored optical fiber cable disc is arranged on a mother ship, and the underwater robot end optical fiber releaser is arranged on the underwater robot;
one end of the armored optical fiber is wound on the armored optical fiber cable tray and is connected with a control system on the mother work ship; the other end of the armored optical fiber is connected with the water surface end optical fiber compensator;
one end of the micro optical fiber is wound on the water surface end optical fiber compensator and connected with the armored optical fiber, and the other end of the micro optical fiber is wound on the underwater robot end optical fiber releaser and connected with the underwater robot.
The water surface end optical fiber compensator comprises a water surface end optical fiber compensator shell, an optical fiber group I and a ballast, wherein the optical fiber group I and the ballast are arranged in the water surface end optical fiber compensator shell, and the optical fiber group I is used for winding one end of the micro optical fiber; the ballast is arranged at the bottom of the water surface end optical fiber compensator shell.
The water surface end optical fiber compensator also comprises a tension controller arranged in the shell of the water surface end optical fiber compensator, and the tension controller is used for controlling the tension of one end of the micro optical fiber released by the optical fiber group I.
The water surface end optical fiber compensator is pulled by armored optical fibers and is lowered to the position with the water depth of 20-50 meters, and the water surface end optical fiber compensator is used for releasing micro optical fibers to compensate the movement of the working mother ship.
The underwater robot end optical fiber releaser comprises an optical fiber group II, and the optical fiber group II is used for winding the other end of the micro optical fiber.
The underwater robot end optical fiber releaser further comprises a constant tension controller, and the constant tension controller is used for controlling the tension of the other end of the micro optical fiber released by the optical fiber group II.
The armored optical fiber is a steel cable reinforced optical fiber cable; the diameter of the micro optical fiber is 0.4 mm.
The optical fiber management device of the full-sea-depth autonomous remote control underwater robot further comprises an optical fiber cutter arranged in the underwater robot, wherein the optical fiber cutter is positioned at the tail end of an optical fiber outlet of an optical fiber releaser at the end of the underwater robot and used for cutting off micro optical fibers.
A method for carrying out optical fiber management by using the optical fiber management device of the full-sea-depth autonomous remote control underwater robot comprises the following steps:
firstly, arranging an underwater robot into water, wherein the submerging speed is V;
then, the water surface end optical fiber compensator is placed into water from a deck of a working mother ship through a traction cloth of armored optical fibers, and sinks to 20-50 meters underwater, the submergence speed is V, and V is 0.5V, so that the micro optical fibers between the water surface end optical fiber compensator and the underwater robot are ensured to be in a straightening state; the underwater robot continuously submerges to the bottom of a ten thousand meters sea in the process of continuously releasing the micro optical fibers.
After the underwater robot completes submarine detection and operation tasks, the remote control optical fiber shearer cuts off the micro optical fibers, and the underwater robot can float to the water surface without restraint and wait for recovery; meanwhile, the armored optical fiber is recovered by using the armored optical fiber cable disc, the water surface end optical fiber compensator is pulled to discharge water to a deck of a mother work ship, and the micro optical fiber is manually cut off, so that the recovery of the optical fiber management device of the full-sea-depth autonomous remote control underwater robot is completed.
The invention has the advantages and beneficial effects that:
1. the method is convenient to operate, practical, effective and easy to manage. The underwater robot and the water surface end optical fiber compensator are controlled by the micro optical fiber and the optical fiber release, can be independently arranged in sequence without mutual interference, are convenient to operate, and are simplified and effective in management;
2. the device of the invention has compact structure and small volume, and is beneficial to the integral compactness, light weight and miniaturization of the underwater robot. The armored optical fiber, the water surface end optical fiber compensator and the underwater robot end optical fiber releaser are seamlessly connected into a whole, so that the mechanism is simplified, and the overall compact and miniaturized design of the water surface support equipment and the underwater robot is realized;
3. the method has the advantages of low use cost, economy, high efficiency and good flexibility. The relative motion of the mother ship can be compensated by utilizing the release of the optical fiber, the unpowered positioning requirement on the mother ship is met, the fuel consumption of the marine ship is greatly reduced, and the economic cost and the labor consumption of the ship are reduced; meanwhile, the occupied area of the deck of the mother ship is small, the miniaturization design has no strict requirement on a hoisting system, the flexibility is strong, and the adaptability is good;
4. according to the device and the method, the adaptive capacity of the underwater robot to the marine environment is enhanced through the optical fiber compensation at the water surface end, the capability of executing tasks under a high sea condition is achieved, and the comprehensive utilization efficiency of the ship in the whole voyage process is improved;
5. the invention can effectively protect the basic safety of the underwater robot. The optical fiber effective management can realize real-time monitoring of the state of the underwater robot by a person, and the underwater robot can be remotely controlled at any time when encountering danger, so that the risk is reduced to the minimum; the optical fiber cutter can cut off the optical fiber after the task is finished, liberates the underwater robot to enable the underwater robot to freely and safely return to the water surface;
6. the method and the device are convenient to realize, have strong universality, can be popularized and used in popularization, and can be expanded and applied to autonomous remote control underwater robots with different water depths and different functions or other similar deep sea underwater robots or submersibles using optical fibers.
Drawings
FIG. 1 is a schematic structural diagram of an optical fiber management device of a full-sea-depth autonomous remote-control underwater robot in accordance with the present invention;
FIG. 2 is a schematic structural diagram of a water surface end optical fiber compensator according to the present invention;
fig. 3 is a schematic structural diagram of an underwater robot end optical fiber releaser in the invention.
In the figure: the underwater robot optical fiber cable reel is characterized in that the underwater robot optical fiber reel is a working mother ship 1, the armored optical fiber reel is a control system 2, the armored optical fiber reel is a armored optical fiber 4, the underwater end optical fiber compensator is a water surface end optical fiber 5, the micro optical fiber 6 is a micro optical fiber, the underwater robot 7 is an underwater robot 8, the underwater robot end optical fiber releaser 9 is an underwater robot end optical fiber releaser 10, the optical fiber reel I11 is a tension controller 12, the ballast 13 is a constant tension controller, and the optical fiber reel II 14 is an optical fiber reel II.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in detail with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1, the optical fiber management device for a full-sea-depth autonomous remote-control underwater robot provided by the invention comprises an armored optical fiber cable disc 3, armored optical fibers 4, a water surface end optical fiber compensator 5, micro optical fibers 6 and an underwater robot end optical fiber releaser 9, wherein the armored optical fiber cable disc 3 is arranged on a mother work ship 1, and the underwater robot end optical fiber releaser 9 is arranged on an underwater robot 7; one end of an armored optical fiber 4 is wound on the armored optical fiber cable reel 3 and is connected with the control system 2 on the mother work ship 1; the other end of the armored optical fiber 4 is connected with the water surface end optical fiber compensator 5, and the armored optical fiber cable disc 3 is responsible for storing, releasing and recovering the armored optical fiber 4; one end of the micro optical fiber 6 is wound on the water surface end optical fiber compensator 5 and is connected with the armored optical fiber 4; the other end of the micro-fiber 6 is wound on the underwater robot end fiber releaser 9 and is connected with the underwater robot 7.
In the embodiment of the present invention, as shown in fig. 2, the water surface end optical fiber compensator 5 includes a water surface end optical fiber compensator housing, and an optical fiber mass i 10 and a ballast 12 which are arranged in the water surface end optical fiber compensator housing from top to bottom, wherein the optical fiber mass i 10 is used for winding one end of the micro optical fiber 6; ballast 12 is disposed at the bottom of the water-side fiber optic compensator housing for providing negative buoyancy.
Furthermore, the water surface end optical fiber compensator 5 further comprises a tension controller 11 arranged in the shell of the water surface end optical fiber compensator, the optical fiber group I10 can be stressed to release the micro optical fiber 6, the tension controller 11 is used for controlling the tension of one end of the micro optical fiber 6 released by the optical fiber group I10, the underwater robot 7 can be guaranteed to release the micro optical fiber 6 stably and reliably, and the maneuvering and flexible movement requirements of the underwater robot are met;
the ballast 12 is composed of lead blocks, is installed at the bottom of the water surface end optical fiber compensator 5, plays a role in configuring the whole water surface end optical fiber compensator 5 into a larger negative buoyancy force, and ensures that a water layer at a certain depth has certain stability under the traction of the armored optical fiber 4.
The water surface end optical fiber compensator 5 lowers the optical fiber group I10 to a certain depth h below the water surface under the action of self gravity, and keeps the optical fibers released by the optical fiber group I10 from being influenced by water surface surge or water flow, so that the micro optical fibers 6 are stably released under the action of the tension controller 11; the water surface end optical fiber compensator 5 has the function of compensating the movement of the mother workboat 1, can release the micro optical fiber 6 along with the drift of the mother workboat 1, and prevents the micro optical fiber 6 from being broken due to the stress caused by the movement of the mother workboat 1. The micro optical fiber 6 on the optical fiber group I10 is connected with the armored optical fiber 4 through an optical fiber fusion mode.
Specifically, as shown in fig. 1, the water surface end optical fiber compensator 5 is pulled by the armored optical fiber 4 and is lowered to the water depth of 20-50 meters, and the water surface end optical fiber compensator 5 is used for releasing the micro optical fiber 6 so as to compensate the movement of the mother ship 1. Under the action of the gravity and the ballast 12, the water surface end optical fiber compensator 5 lowers the optical fiber cluster I10 to the depth h below the water surface, wherein h is 20-50 m, so that the micro optical fiber 6 released from the optical fiber cluster I10 is kept free from the influence of water surface surge or water flow, and the micro optical fiber 6 is released stably under the action of the tension controller 11.
In the embodiment of the invention, as shown in fig. 3, the underwater robot end optical fiber releaser 9 comprises an optical fiber cluster II 14, and the optical fiber cluster II 14 is used for winding the other end of the micro optical fiber 6.
Further, the underwater robot end optical fiber releaser 9 further comprises a constant tension controller 13, the optical fiber group II 14 can release the micro optical fiber 6 under stress, and the constant tension controller 13 is used for controlling the tension of the other end of the micro optical fiber 6 released by the optical fiber group II 14.
The constant tension controller 13 ensures that the micro optical fiber 6 does not release the optical fiber due to tiny disturbance force to cause unnecessary waste, can compensate the movement of the mother ship at the water surface end and the underwater robot, releases the optical fiber as required and ensures the normal work of an optical fiber link of the underwater robot; the influence of the release of the micro optical fiber 6 on the underwater robot 7 can be minimized, and the flexible movement of the underwater robot is guaranteed.
Specifically, the armored fiber 4 is a steel cable reinforced fiber cable, i.e. the outer side of the fiber cable is covered with a steel cable, which can bear 100 kg of pulling force without being broken. The diameter of the micro optical fiber 6 is 0.4mm, and the total storage length of the micro optical fiber 6 is designed to be 20-40 km according to the requirement of the release amount of the optical fiber in the whole sea depth and the length of the optical fiber released by the motion of the underwater robot.
On the basis of the above embodiment, as shown in fig. 1, the optical fiber management device for the full-sea-depth autonomous remote-controlled underwater robot further includes an optical fiber cutter 8 disposed in the underwater robot 7, and the optical fiber cutter 8 is located at the end of the optical fiber outlet of the optical fiber releaser 9 at the end of the underwater robot and is used for cutting the micro optical fiber 6. The optical fiber cutter 8 adopts a pin pulling type triggering mechanism driven by a motor, can be remotely or automatically started, and is used for cutting the micro optical fiber 6 connected with the underwater robot 7 under the condition of task execution ending or emergency, so that the underwater robot 7 smoothly floats upwards without interference, the recovery is completed, and the safety of the final stage is guaranteed.
A method for carrying out optical fiber management by utilizing an optical fiber management device of an all-sea-depth autonomous remote control underwater robot comprises the following steps: firstly, arranging an underwater robot 7 into water, wherein the submerging speed is V;
then, the water surface end optical fiber compensator 5 is placed into water from a deck of the working mother ship 1 through a traction cloth of the armored optical fiber 4, and sinks to 20-50 meters underwater, the submergence speed is V, and V is 0.5V, so that the micro optical fiber 6 between the water surface end optical fiber compensator 5 and the underwater robot 7 is ensured to be in a straightening state; the underwater robot 7 continuously submerges to the bottom of the ten thousand meters in the process of continuously releasing the micro optical fiber 6.
After the underwater robot 7 finishes submarine detection and operation tasks, the remote control optical fiber shearer 8 cuts off the micro optical fiber 6, and the underwater robot 7 can float to the water surface without constraint and wait for recovery; meanwhile, the armored optical fiber 4 is recovered by using the armored optical fiber cable reel 3, the water surface end optical fiber compensator 5 is drawn to discharge water to a deck of the working mother ship 1, and the micro optical fiber 6 is cut off manually, so that the recovery of the full-sea-depth autonomous remote control underwater robot optical fiber management device is completed.
By the device, an optical fiber communication link between the control system 2 on the working mother ship 1 and the underwater robot 7 can be established, effective management of the large-depth and long-distance micro optical fiber 6 is realized, the underwater robot 7 is guaranteed to be kept in a stable and reliable optical fiber communication state in the task execution process, and the purposes of efficient detection and operation of the myriameter deep-underwater sea are realized.
The micro optical fiber 6 can be released from the water surface end optical fiber compensator 5 or the underwater robot end optical fiber releaser 9 in the underwater robot 7 according to the motion and stress conditions of the mother work ship 1 or the underwater robot 7, and the sea surface motion of the mother work ship 1 and the navigation motion of the underwater robot 7 in the sea of ten thousand meters are met on the premise of ensuring the safety of an optical fiber link. The optical fiber shearer 8 is positioned in the underwater robot 7, and the optical fiber outlet of the optical fiber releaser 9 at the end of the underwater robot can cut off the micro optical fiber 6 according to instructions in the recovery stage of the underwater robot 7, so that the micro optical fiber is disconnected with the underwater robot 7, and the underwater robot 7 is guaranteed to freely float to the sea surface without constraint.
Example one
In the embodiment of the invention, the optical fiber groups in the water surface end optical fiber compensator 5 and the underwater robot end optical fiber releaser 9 are stored by the micro optical fiber 6 with the cable length of 20 kilometers, and the lowering depth of the water surface end optical fiber compensator 5 is 30 meters.
Firstly, constructing an optical fiber link based on the optical fiber management device of the full-sea-depth autonomous remote control underwater robot provided by the invention on a deck of a mother work ship 1, and confirming that optical fiber communication is normal; the underwater robot 7 is arranged to enter water, and does not dive under the action of gravity at a diving speed of V; then submerging, and continuously releasing the micro optical fiber 6 from the underwater robot end optical fiber releaser 9 of the underwater robot 7 so as to compensate the submerging movement of the underwater robot 7; at this time, the water surface end optical fiber compensator 5 is placed into water from a deck through the traction cloth of the armored optical fiber 4, and sinks to 30 meters under the action of the self gravity, the submergence speed is V, and V is 0.5V, so that the micro optical fiber 6 between the water surface end optical fiber compensator 5 and the underwater robot 7 is ensured to be in a straightening state, and the problem of communication interruption caused by self winding is avoided; the water surface end optical fiber compensator 5 works in the water depth of 30 meters and is positioned in an area with less influence of sea surface surge, so that the micro optical fiber 6 can be ensured to be released from the water surface end optical fiber compensator to compensate the horizontal drift or vertical heave motion of the mother workboat 1, and the risk that the micro optical fiber 6 is broken due to impact is avoided; at this time, the tension controller 11 in the water-surface-end optical fiber compensator 5 controls the release of the micro-fiber 6 under tension control, so as to avoid the accumulation of the micro-fiber 6 at the release port; meanwhile, the underwater robot 7 continues to dive without power, and in the process, the micro optical fiber 6 is continuously released under the control of the constant tension controller 13 until the micro optical fiber reaches the working depth and sails on the seabed level, and the micro optical fiber 6 is sequentially released from the optical fiber group II 10 in the underwater robot 7 to compensate the motion of the underwater robot 7.
The maximum depth H of the underwater robot 7 in the ocean can reach 11000 meters, after the underwater robot 7 finishes submarine detection and operation tasks, an optical fiber shearing instruction is issued through optical fiber communication, the optical fiber shearer 8 cuts off the micro optical fiber 6, and the underwater robot 7 can float to the water surface without constraint and wait for recovery; meanwhile, the armored optical fiber 4 is recovered by using the armored optical fiber cable tray 3, the water surface end optical fiber compensator 5 is pulled to discharge water to a deck, and the micro optical fiber 6 is cut off manually, so that the recovery of the whole optical fiber management device is completed.
The invention provides an optical fiber management device and method for an all-sea-depth autonomous remote control underwater robot, which are used for realizing effective management of armored optical fibers and large-depth and long-distance micro optical cables, ensuring that the underwater robot is kept in a stable and reliable optical fiber communication state in the task execution process and realizing efficient detection and operation of the underwater robot in the deep underwater of ten thousand meters. The device has compact structure and small volume, and is beneficial to the integral compactness, light weight and miniaturization of the underwater robot; the use process is convenient to operate, practical, effective, easy to manage, safe and reliable; by the device and the method, the adaptability and the flexibility of the underwater robot to the marine environment can be improved, the use cost of the ship is reduced, and the comprehensive utilization rate of the ship is improved; in addition, the method and the device are convenient to realize, have strong universality, can be popularized and used in popularization, and can be expanded and applied to autonomous remote control underwater robots with different water depths and different functions or other similar deep sea underwater robots or submersibles using optical fibers.
The above description is only an embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement, extension, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.
Claims (10)
1. The optical fiber management device of the full-sea-depth autonomous remote control underwater robot is characterized by comprising an armored optical fiber cable disc (3), armored optical fibers (4), a water surface end optical fiber compensator (5), micro optical fibers (6) and an underwater robot end optical fiber releaser (9), wherein the armored optical fiber cable disc (3) is arranged on a mother work ship (1), and the underwater robot end optical fiber releaser (9) is arranged on an underwater robot (7);
one end of the armored optical fiber (4) is wound on the armored optical fiber cable reel (3) and is connected with the control system (2) on the mother work ship (1); the other end of the armored optical fiber (4) is connected with the water surface end optical fiber compensator (5);
one end of the micro optical fiber (6) is wound on the water surface end optical fiber compensator (5) and is connected with the armored optical fiber (4), and the other end of the micro optical fiber (6) is wound on the underwater robot end optical fiber releaser (9) and is connected with the underwater robot (7).
2. The optical fiber management device of the full-sea-depth autonomous remote-control underwater robot as claimed in claim 1, wherein the water-surface-end optical fiber compensator (5) comprises a water-surface-end optical fiber compensator housing, and an optical fiber bulk I (10) and a ballast (12) arranged in the water-surface-end optical fiber compensator housing, wherein the optical fiber bulk I (10) is used for winding one end of the micro optical fiber (6); the ballast (12) is arranged at the bottom of the water surface end optical fiber compensator shell.
3. The optical fiber management device of the full-sea-depth autonomous remote-control underwater robot as claimed in claim 2, wherein the water-surface-end optical fiber compensator (5) further comprises a tension controller (11) disposed in the water-surface-end optical fiber compensator housing, and the tension controller (11) is configured to control the tension of one end of the micro optical fiber (6) released by the optical fiber bulk i (10).
4. The full-sea-depth autonomous remote-control underwater robot optical fiber management device according to claim 2, wherein the water surface end optical fiber compensator (5) is pulled by the armored optical fiber (4) and is lowered to a water depth of 20-50 m, and the water surface end optical fiber compensator (5) is used for releasing the micro optical fiber (6) to compensate the movement of the mother ship (1).
5. The full-sea-depth autonomous remote-control underwater robot optical fiber management device according to claim 2, wherein the underwater robot end optical fiber releaser (9) comprises an optical fiber bulk ii (14), and the optical fiber bulk ii (14) is used for winding the other end of the micro optical fiber (6).
6. The full-sea-depth autonomous remote-control underwater robot optical fiber management device according to claim 5, wherein the underwater robot end optical fiber releaser (9) further comprises a constant tension controller (13), and the constant tension controller (13) is used for controlling the tension of the other end of the micro optical fiber (6) released by the optical fiber group II (14).
7. The full-sea-depth autonomous remote-controlled underwater robot fiber management device according to claim 1, characterized in that the armored fiber (4) is a wire-rope-reinforced fiber cable; the diameter of the micro-optical fiber (6) is 0.4 mm.
8. The full-sea-depth autonomous remote-controlled underwater robot optical fiber management device according to claim 1, further comprising an optical fiber cutter (8) disposed in the underwater robot (7), wherein the optical fiber cutter (8) is disposed at the end of the optical fiber outlet of the underwater robot-side optical fiber releaser (9) and is used for cutting the micro optical fiber (6).
9. A method for optical fiber management by using the optical fiber management device of the full-sea deep autonomous remote-control underwater robot according to any one of claims 1 to 8,
firstly, arranging an underwater robot (7) into water, wherein the submerging speed is V;
then, the water surface end optical fiber compensator (5) is placed into water from a deck of the working mother ship (1) through a traction cloth of the armored optical fiber (4), and sinks to 20-50 meters underwater, the submergence speed is V, and V is 0.5V, so that the micro optical fiber (6) between the water surface end optical fiber compensator (5) and the underwater robot (7) is ensured to be in a straightening state; the underwater robot (7) continuously submerges to the bottom of the ten thousand meters sea in the process of continuously releasing the micro optical fiber (6).
10. The method for optical fiber management according to claim 9, wherein after the underwater robot (7) completes the submarine detection and operation task, the remote control optical fiber cutter (8) cuts off the micro optical fiber (6), and the underwater robot (7) can float to the water surface without constraint and wait for recovery; meanwhile, the armored optical fiber (4) is recovered by using the armored optical fiber cable reel (3), the water surface end optical fiber compensator (5) is pulled to discharge water to a deck of the mother work ship (1), and the micro optical fiber (6) is manually cut off, so that the recovery of the full-sea-depth autonomous remote control underwater robot optical fiber management device is completed.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113968328A (en) * | 2021-11-15 | 2022-01-25 | 中国科学院沈阳自动化研究所 | Pressing and falling device for underwater robot |
| CN115946832A (en) * | 2023-03-10 | 2023-04-11 | 青岛霍金海洋高新科技有限公司 | Automatic seabed base of retrieving |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113968328A (en) * | 2021-11-15 | 2022-01-25 | 中国科学院沈阳自动化研究所 | Pressing and falling device for underwater robot |
| CN113968328B (en) * | 2021-11-15 | 2022-10-25 | 中国科学院沈阳自动化研究所 | Pressing and falling device for underwater robot |
| CN115946832A (en) * | 2023-03-10 | 2023-04-11 | 青岛霍金海洋高新科技有限公司 | Automatic seabed base of retrieving |
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