CN112829902A - Optical fiber compensation device for underwater robot - Google Patents
Optical fiber compensation device for underwater robot Download PDFInfo
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- CN112829902A CN112829902A CN201911156985.6A CN201911156985A CN112829902A CN 112829902 A CN112829902 A CN 112829902A CN 201911156985 A CN201911156985 A CN 201911156985A CN 112829902 A CN112829902 A CN 112829902A
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- optical fiber
- cable
- air guide
- underwater robot
- guide sleeve
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- 239000013307 optical fiber Substances 0.000 title claims abstract description 125
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 20
- 230000001681 protective effect Effects 0.000 claims description 30
- 238000009434 installation Methods 0.000 claims description 4
- 238000005286 illumination Methods 0.000 claims 5
- 230000000149 penetrating effect Effects 0.000 claims 1
- 239000000835 fiber Substances 0.000 abstract description 18
- 238000004891 communication Methods 0.000 abstract description 9
- 238000001514 detection method Methods 0.000 description 5
- 238000005452 bending Methods 0.000 description 3
- 238000004073 vulcanization Methods 0.000 description 3
- 238000004804 winding Methods 0.000 description 2
- 241001391944 Commicarpus scandens Species 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000008092 positive effect Effects 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
- 238000004064 recycling Methods 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 238000005070 sampling Methods 0.000 description 1
- 239000012780 transparent material Substances 0.000 description 1
Images
Classifications
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B27/00—Arrangement of ship-based loading or unloading equipment for cargo or passengers
- B63B27/08—Arrangement of ship-based loading or unloading equipment for cargo or passengers of winches
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Light Guides In General And Applications Therefor (AREA)
Abstract
The invention belongs to the technical field of underwater robots, and particularly relates to an optical fiber compensation device for an underwater robot. Including last kuppe, bear the frame, kuppe, optic fibre armour cable down, optic fibre group and image acquisition device, wherein bear the frame the upper and lower end and be equipped with kuppe and kuppe down respectively, the top of bearing the frame is equipped with hinge structure, hinge structure is used for being connected with the optic fibre armour cable that the kuppe introduced from last, be equipped with the optic fibre group and the image acquisition device of being connected with optic fibre armour cable in the bearing the frame, image acquisition device sets up in the top of optic fibre group, the optic fibre micro-cable of drawing forth by optic fibre group stretches out and is connected with underwater robot from kuppe down. The invention provides the water surface optical fiber compensation for the underwater robot, can be applied to all underwater robots adopting optical fiber communication, enables an operator to monitor the fiber output state and the residual condition of the optical fiber on the water surface in real time, liberates the manpower for managing the water surface optical fiber and improves the field working efficiency.
Description
Technical Field
The invention belongs to the technical field of underwater robots, and particularly relates to an optical fiber compensation device for an underwater robot.
Background
An ARV (Autonomous Underwater Vehicle) is a new concept of Underwater robot that combines the advantages of a remote Operated Underwater Robot (ROV) and an Autonomous Underwater robot (AUV), which has an energy source and communicates with a mother vessel through an optical fiber. The ARV can adopt a semi-autonomous detection mode, namely the ARV cruises according to a preset instruction to realize large-range detection, an operator does not intervene in the navigation, the ARV state is monitored in real time through a micro optical fiber, the acousto-optic imaging of a detection system is obtained in real time, and meanwhile, the navigation instruction can be interrupted or corrected in real time; the operation can also be carried out in a remote control mode, namely, the operation is carried out in a conventional ROV mode, and an operator carries out detection operation by remotely controlling an ARV through an optical fiber to carry out fixed-point sampling operation; an autonomous remote control hybrid mode can be adopted, namely the ARV cruises and detects according to a preset instruction, when an operator finds an interested event, the operator can manually or automatically switch to a fixed-point operation control mode, and large-range autonomous detection and fixed-point remote control operation are organically combined.
Compared with an ROV umbilical cable, the optical fiber micro cable has the advantages of small diameter, light weight and the like, is slightly negative buoyancy in water, and can meet the communication and length requirements by respectively placing an optical fiber group at the carrier end of the robot and the water surface end of a mother ship. The breaking force of the optical fiber micro cable product is about 100N, but the optical fiber micro cable product is easy to break under the bending force, so that the communication is interrupted, particularly when the robot is laid, the spiral force generated by winding the optical fiber micro cable is easy to cause the extending optical fiber to be knotted and broken in the air, and in addition, in the submergence and navigation processes of the underwater robot, the optical fiber released by the water surface end is easy to move to the bottom of a ship along with the ocean current and is rolled into a propeller.
Disclosure of Invention
In view of the above problems, an object of the present invention is to provide an optical fiber compensation apparatus for an underwater robot, which is applicable to all ARVs, has versatility, and frees manpower for managing surface optical fibers.
In order to achieve the purpose, the invention adopts the following technical scheme:
an optical fiber compensation device for an underwater robot comprises an upper air guide sleeve, a bearing frame, a lower air guide sleeve, an optical fiber armored cable, an optical fiber group and an image acquisition device, wherein the upper end and the lower end of the bearing frame are respectively provided with the upper air guide sleeve and the lower air guide sleeve, the top of the bearing frame is provided with a hinged structure, the hinged structure is used for being connected with the optical fiber armored cable introduced from the upper air guide sleeve, the bearing frame is internally provided with the optical fiber group and the image acquisition device which are connected with the optical fiber armored cable, the image acquisition device is arranged above the optical fiber group, and an optical fiber micro cable led out by the optical fiber group extends out of the lower air guide sleeve and is connected with the underwater robot.
The hinged structure comprises a support, an adapter and a bearing head, wherein the support is arranged at the top of the bearing frame, the adapter is arranged on the support, the adapter is of a cross hinge structure, the bearing head is connected to the end portion of the optical fiber armor cable, and the bearing head is hinged to the adapter.
The optical fiber group is clamped and fixed through an optical fiber group hoop, the optical fiber group hoop is connected with the bearing frame through an hoop fixing frame, and the optical fiber group is connected with the optical fiber armor cable through an optical fiber jumper.
The upper air guide sleeve is of a conical structure, and an opening for the optical fiber armor cable to pass through is formed in the top of the upper air guide sleeve.
The lower air guide sleeve is of a conical structure, a water through hole is formed in the side wall of the lower air guide sleeve, a through hole is formed in the bottom of the lower air guide sleeve, and a guide structure used for the optical fiber micro cable to penetrate through is arranged in the through hole.
The guide structure comprises a protective sleeve and a nut, wherein the protective sleeve is of a stepped shaft structure, the protective sleeve is arranged on the optical fiber micro cable, one end of the optical fiber micro cable penetrates through the through hole in the bottom of the lower air guide sleeve, and the nut is in threaded connection with one end of the protective sleeve and fixes the protective sleeve on the lower air guide sleeve.
The image acquisition device comprises an illuminating lamp and a standard definition camera, wherein the illuminating lamp and the standard definition camera are respectively installed on the bearing frame through an illuminating lamp support and a standard definition camera support, and the illuminating lamp and the standard definition camera are respectively connected with the optical fiber armor cable through cables.
The installation positions of the illuminating lamp and the standard definition camera are mutually vertical.
The bearing frame comprises a protective net, and a top seat and a base which are arranged at two ends of the protective net, and the protective net is in a cylindrical hollow structure.
The protective net is formed by four net pieces of a quarter-sector structure in a surrounding mode, and two adjacent net pieces are connected through a vertical beam.
The invention has the advantages and positive effects that:
1. the invention improves the safety of managing the optical fiber. The device moves the optical fiber group at the water surface end to 20-100 meters underwater, can reduce the interference of water surface surge and a mother ship to optical fiber communication, ensures the stability of a communication link, and reduces unnecessary laying and recycling times of the underwater robot, thereby improving the working efficiency of the underwater robot.
2. The invention liberates manpower. The device can liberate people from the optical fibers on the management water surface, and only when the underwater robot and the device are arranged, the optical fiber micro-cable is protected from being interfered by bending and mother ships.
3. The invention is convenient for maintenance. The air guide sleeve and the protective net are easy to disassemble, equipment, cables and optical fiber bundles in the device are convenient to replace, and the operability is high.
4. The invention has strong universality. The device is suitable for all underwater robots adopting optical fiber communication, provides optical fiber compensation for the underwater robots, and can monitor the working state of the optical fiber in real time.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic view of the internal structure of the present invention;
FIG. 3 is a partial cross-sectional view of the present invention;
FIG. 4 is a cross-sectional view taken along line A-A of FIG. 3;
FIG. 5 is an enlarged view taken at I in FIG. 3;
FIG. 6 is a schematic view of the present invention.
Wherein: 1 is last kuppe, 2 is the protection network, 3 is down kuppe, 4 is optic fibre armour cable, 5 is the bearing head, 6 is the adapter, 7 is the support, 8 is the footstock, 9 is the optic fibre wire jumper, 10 is the optic fibre group, 11 is perpendicular roof beam, 12 is the base, 13 is the light, 14 is the light support, 15 is the standard definition camera, 16 is the staple bolt of optic fibre group, 17 is the staple bolt mount, 18 is the light cable, 19 is the standard definition camera cable, 20 is the optic fibre micro-cable, 21 is the protective sheath, 22 is the nut, 23 is for rolling over the arm and hangs.
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. 1-3, the optical fiber compensation device for an underwater robot provided by the present invention includes an upper air guide sleeve 1, a bearing frame, a lower air guide sleeve 3, an optical fiber armor cable 4, an optical fiber cluster 10 and an image acquisition device, wherein the upper and lower ends of the bearing frame are respectively provided with the upper air guide sleeve 1 and the lower air guide sleeve 3, the top of the bearing frame is provided with a hinge structure, the hinge structure is used for connecting with the optical fiber armor cable 4 introduced from the upper air guide sleeve 1, the bearing frame is provided with the optical fiber cluster 10 and the image acquisition device connected with the optical fiber armor cable 4, the image acquisition device is disposed above the optical fiber cluster 10, and the optical fiber micro cable 20 introduced from the optical fiber cluster 10 extends from the lower air guide sleeve 3 and is connected with the underwater robot.
The bearing frame comprises a protective net 2, and a top seat 8 and a base 12 which are arranged at two ends of the protective net 2, wherein the protective net 2 is in a cylindrical hollow structure.
In the embodiment of the invention, the protective net 2 is formed by enclosing four net sheets with a quarter-sector structure, and two adjacent net sheets are connected through a vertical beam 11. Four vertical beams 11 are uniformly arranged, and two ends of each vertical beam are respectively connected with the top seat 8 and the base 12, so that the whole device is of a shuttle-type structure, and the net-shaped structure of the protective net 2 is convenient for observing the installation condition of internal equipment and binding cables from the outside.
The hinged structure comprises a support 7, an adapter 6 and a bearing head 5, wherein the support 7 is arranged at the top of the bearing frame, the adapter 6 is arranged on the support 7, the adapter 6 is of a cross hinge structure, the bearing head 5 is connected with the end part of the optical fiber armored cable 4 through vulcanization, and the bearing head 5 is hinged with the adapter 6 through a pin shaft.
As shown in fig. 4, the optical fiber group 10 is clamped and fixed by the optical fiber group hoop 16, the optical fiber group hoop 16 is connected with the vertical beam 11 of the carrying frame by the hoop fixing frame 17, and the optical fiber group 10 is connected with the optical fiber armor 4 by the optical fiber jumper 9.
The upper air guide sleeve 1 and the lower air guide sleeve 3 are both conical thin-wall structures, so that the device has better streamline and portability, and meanwhile, the optical fiber is prevented from being wound with the device. The top of the upper air guide sleeve 1 is provided with an opening for the optical fiber armor cable 4 to pass through, so that the optical fiber armor cable 4, the bearing head 5, the adapter 6 and the support 7 can penetrate through and be connected with the top seat 8 after being assembled. The lower air guide sleeve 3 is connected with the base 12, a water through hole is arranged on the side wall of the lower air guide sleeve, a through hole is arranged at the bottom of the lower air guide sleeve 3, and a guide structure for the optical fiber micro cable 20 to penetrate through is arranged in the through hole.
In the embodiment of the invention, six uniformly distributed waist-shaped water through holes are formed in the conical surface of the lower air guide sleeve 3, so that the device can conveniently and quickly discharge water after water enters and exits.
As shown in fig. 5, the guiding structure includes a protecting sleeve 21 and a nut 22, wherein the protecting sleeve 21 is a stepped shaft structure, the protecting sleeve 21 is sleeved on the optical fiber micro cable 20, and one end of the protecting sleeve passes through a through hole at the bottom of the lower dome 3, the nut 22 is in threaded connection with one end of the protecting sleeve 21, so as to fix the protecting sleeve 21 on the lower dome 3. The optical fiber micro cable 20 passes through the protective sleeve 21, and the protective sleeve 21 plays a role in guiding and limiting the outgoing fiber.
As shown in fig. 3, the image capturing device includes an illuminating lamp 13 and a standard definition camera 15, wherein the illuminating lamp 13 and the standard definition camera 15 are respectively mounted on the vertical beam 11 of the carrying frame through an illuminating lamp bracket 14 and a standard definition camera bracket, and the illuminating lamp 13 and the standard definition camera 15 are respectively connected with the optical fiber armor cable 4 through an illuminating lamp cable 18 and a standard definition camera cable 19.
Further, the installation positions of the illuminating lamp 13 and the standard definition camera 15 are perpendicular to each other, so that the illuminating lamp 13 and the standard definition camera 15 are perpendicular to each other, the two devices are installed at 45 degrees downwards in an inclined mode, the upper end face of the optical fiber group 10 is made of transparent materials, scales are marked, and the fiber state and the residual situation of the optical fibers can be clearly seen at the water face end.
The optical fiber armored cable 4 is a photoelectric composite cable and is connected with the bearing head 5 through vulcanization, two sides of the bearing head 5 are connected with the adapter 6 through pin shafts, the adapter 6 is of a cross hinge structure and is connected with the support 7 through pin shafts, the support 7 is connected with a middle cross beam of the top base 8, and the structure can enable the device to swing back and forth or left and right along with ocean currents, so that bending of the optical fiber armored cable 4 is reduced. The optical fiber armor 4 penetrates through the adapter 6 and the support 7, the internal cable is connected with the illuminating lamp cable 18 and the standard definition camera cable 19, the internal optical fiber is welded with the optical fiber jumper 9, the outside is vulcanized, and the other end of the optical fiber jumper 9 is connected with the optical fiber group 10.
As shown in fig. 6, the device is placed in water by a knuckle boom 23, and in the embodiment of the invention, the optical fiber armor 4 is coiled on a winch and is connected into the device by passing through a pulley. The optical fiber micro cable 20 extending out of the device needs to be welded with the optical fiber group at the carrier end of the underwater robot in advance, and the device is laid after the underwater robot submerges and is recycled before the underwater robot floats.
The working principle of the invention is as follows:
the optical fiber compensation device for the underwater robot uses a top seat 8, a vertical beam 11, a frame connected with a base 12 and a protective screen 2 as a bearing device, an upper air guide sleeve 1 and a lower air guide sleeve 3 are used as air guide and fiber winding prevention structures, a component connected with a protective sleeve 21 and a nut 22 is used as an optical fiber guide structure, optical fiber armor cables 4, a bearing head 5, an adapter 6 and a support 7 are sequentially connected to form a communication link and a protective structure of photoelectric signals, an optical fiber jumper wire 9 connected with an optical fiber cluster 10, an illuminating lamp cable 18 and a standard definition camera cable 19 are connected into the optical fiber armor cables 4 in a vulcanization mode, and the device is laid and recovered through a folding arm hanger 23.
In conclusion, the optical fiber compensation device for the underwater robot can be applied to all underwater robots adopting optical fiber communication, and provides water surface optical fiber compensation for the underwater robots, so that an operator can monitor the fiber output state and the residual situation of optical fibers on the water surface in real time, manpower is liberated, interference of water surface surge and mother ships on optical fiber communication is reduced, and the working efficiency of the underwater robots is improved.
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 compensation device for the underwater robot is characterized by comprising an upper air guide sleeve (1), a bearing frame, a lower air guide sleeve (3), an optical fiber armor cable (4), an optical fiber cluster (10) and an image acquisition device, wherein the upper end and the lower end of the bearing frame are respectively provided with the upper air guide sleeve (1) and the lower air guide sleeve (3), the top of the bearing frame is provided with a hinged structure, the hinged structure is used for being connected with the optical fiber armor cable (4) led in from the upper air guide sleeve (1), the bearing frame is internally provided with the optical fiber cluster (10) and the image acquisition device which are connected with the optical fiber armor cable (4), the image acquisition device is arranged above the optical fiber cluster (10), and the optical fiber micro cable (20) led out from the optical fiber cluster (10) extends out of the lower air guide sleeve (3) and is connected with the underwater robot.
2. The optical fiber compensation device for the underwater robot as claimed in claim 1, wherein the hinge structure comprises a support (7), an adapter (6) and a bearing head (5), wherein the support (7) is disposed on the top of the bearing frame, the adapter (6) is disposed on the support (7), the adapter (6) is a cross hinge structure, the bearing head (5) is connected to the end of the optical fiber armor cable (4), and the bearing head (5) is hinged to the adapter (6).
3. The optical fiber compensation device for the underwater robot as claimed in claim 1, wherein the optical fiber clew (10) is clamped and fixed by an optical fiber clew hoop (16), the optical fiber clew hoop (16) is connected with the carrying frame by a hoop fixing frame (17), and the optical fiber clew (10) is connected with the optical fiber armor cable (4) by an optical fiber jumper (9).
4. Optical fiber compensation device for underwater robots according to claim 1, characterized in that the upper dome (1) is of conical structure and is provided at the top with an opening for the passage of the optical fiber armor (4).
5. The optical fiber compensation device for the underwater robot as claimed in claim 1, wherein the lower air guide sleeve (3) is a conical structure with a water through hole on a side wall, a through hole is formed in the bottom of the lower air guide sleeve (3), and a guide structure for the optical fiber micro cable (20) to pass through is arranged in the through hole.
6. The optical fiber compensation device for the underwater robot as claimed in claim 5, wherein the guiding structure comprises a protective sleeve (21) and a nut (22), wherein the protective sleeve (21) is a stepped shaft structure, the protective sleeve (21) is sleeved on the optical fiber micro cable (20) and has one end penetrating through a through hole at the bottom of the lower air guide sleeve (3), and the nut (22) is in threaded connection with one end of the protective sleeve (21) to fix the protective sleeve (21) on the lower air guide sleeve (3).
7. Optical fiber compensation device for underwater robots according to claim 1, characterized in that the image acquisition device comprises an illumination lamp (13) and a standard definition camera (15), wherein the illumination lamp (13) and the standard definition camera (15) are respectively mounted on the carrying frame by an illumination lamp bracket (14) and a standard definition camera bracket, and the illumination lamp (13) and the standard definition camera (15) are respectively connected with the optical fiber armor cable (4) by a cable.
8. The optical fiber compensation device for an underwater robot according to claim 7, wherein the installation positions of the illumination lamp (13) and the standard definition camera (15) are perpendicular to each other.
9. The optical fiber compensation device for the underwater robot as claimed in claim 1, wherein the bearing frame comprises a protective net (2), and a top seat (8) and a base (12) which are arranged at two ends of the protective net (2), and the protective net (2) is a cylindrical hollow structure.
10. The optical fiber compensation device for the underwater robot as claimed in claim 1, wherein the protective net (2) is formed by enclosing four net pieces with a quarter-sector structure, and two adjacent net pieces are connected through a vertical beam (11).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911156985.6A CN112829902A (en) | 2019-11-22 | 2019-11-22 | Optical fiber compensation device for underwater robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911156985.6A CN112829902A (en) | 2019-11-22 | 2019-11-22 | Optical fiber compensation device for underwater robot |
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| CN112829902A true CN112829902A (en) | 2021-05-25 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
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| CN201911156985.6A Pending CN112829902A (en) | 2019-11-22 | 2019-11-22 | Optical fiber compensation device for underwater robot |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113922881A (en) * | 2021-09-17 | 2022-01-11 | 中国科学院深海科学与工程研究所 | Optical fiber release management repeater for deep sea equipment |
| CN113968327A (en) * | 2021-11-15 | 2022-01-25 | 中国科学院沈阳自动化研究所 | Telescopic optical fiber floating package butt joint device for underwater robot |
| 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 |
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| CN211167349U (en) * | 2019-11-22 | 2020-08-04 | 中国科学院沈阳自动化研究所 | Optical fiber compensation device for underwater robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113922881A (en) * | 2021-09-17 | 2022-01-11 | 中国科学院深海科学与工程研究所 | Optical fiber release management repeater for deep sea equipment |
| CN113968327A (en) * | 2021-11-15 | 2022-01-25 | 中国科学院沈阳自动化研究所 | Telescopic optical fiber floating package butt joint device for underwater robot |
| 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 |
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