CN217113911U - Vision cable for underwater robot - Google Patents

Abstract

The utility model discloses a vision cable for underwater robot, including the protective sheath, the center of protective sheath is provided with tensile wire rope, be provided with power cord and an optic fibre that is greater than one around tensile wire rope in the protective sheath, be provided with the video transmission line between the adjacent power cord, between power cord and the optic fibre, the protective sheath is connected with the trachea, the axis looks parallel arrangement of tracheal axis and protective sheath. The cable is strong in pressure resistance, can realize transmission of underwater pressure signal abnormal motion, realizes underwater video effect transmission, can ventilate, and can increase buoyancy of the cable underwater.

Description

Vision cable for underwater robot

Technical Field

The utility model relates to a power cable field, concretely relates to vision cable for underwater robot.

Background

An underwater robot is a limit operation robot working underwater, can be submerged to finish certain operations instead of a human, and is also called a submersible vehicle. The underwater robot is mainly applied to occasions such as marine rescue, severe underwater environment danger, limited diving depth of people and the like, so the underwater robot becomes an important tool for developing the ocean. In military battles, along with unmanned ground combat vehicles, unmanned airplanes, unmanned naval vessels and the like gradually show higher and higher combat effectiveness on a battlefield, the unmanned combat platform plays an important role in future modern battles. The underwater robot is an underwater vehicle with intelligent function, and the expert scholars at home and abroad can divide the underwater robot into four types according to the intelligent degree and the use requirement: namely a towing underwater robot TUV, a remote control underwater robot ROV, an unmanned underwater robot UUV and an intelligent underwater robot AUV. The first two underwater robots are both provided with cables and are manually controlled by a mother ship; the two latter underwater machines are unmanned and untethered, navigate autonomously, are controlled by pre-programming and intelligent respectively, and are applied to a plurality of fields and aspects along with the development of scientific technology.

The underwater robot has the following key technologies:

1. general techniques

The underwater robot is a project with high technical density and strong systematicness, the related professional disciplines can be dozens, the disciplines are mutually restricted, and the single technical index is simply pursued, so that the technical indexes can be considered. In addition to a strong system concept, there is a need to enhance coordination to resolve these conflicts. On the premise of meeting the overall technical requirements, the determination of each single technical index needs to be considered mutually. In order to adapt to a large range of navigation, the underwater robot adopts a low-resistance streamlined body in appearance from the viewpoint of fluid dynamics. The structure adopts light composite materials with light weight, large buoyancy, high strength, corrosion resistance and noise reduction as much as possible

2. Simulation technique

The underwater robot works in a complex marine environment and is intelligently controlled to complete tasks. Due to the inaccessibility of the working area, research and testing of real hardware and software systems is difficult. Therefore, in the scheme design stage of the underwater robot, simulation technology research is required, and the contents are mainly divided into two parts, namely platform motion simulation and control hardware software simulation.

3. Intelligent control technology

The intelligent control technology is used for improving the autonomy of the underwater robot and completing various tasks in a complex marine environment, so that the research on a software system, a hardware system and a control technology of an underwater robot control system is very important. The system structure of the intelligent control technology is the integration of artificial intelligence technology and various control technologies, and is equivalent to the brain and the nervous system of a human. The software system is the overall integration and system scheduling of the underwater robot, directly influences the intelligent level, and relates to the selection of basic modules, the relation among the modules, the management of data (information) and control flow, communication interface protocols and global information resources and an overall scheduling mechanism. The goal of the architecture should be consistent with the research mission of underwater robots, and one of the key technologies to improve the level of intelligence (autonomy and adaptability). The system structure is continuously improved and perfected, the forecast and prediction capability of the future is enhanced, and the system has more prospective and autonomous learning capability.

4. Underwater target detection and identification technology

At present, the underwater target detection and identification equipment of the underwater robot is limited to underwater acoustic equipment such as synthetic aperture sonar, forward-looking sonar and three-dimensional imaging sonar.

5. Underwater navigation (positioning) technology

The navigation system used for the autonomous underwater robot has many kinds, such as an inertial navigation system, a gravity navigation system, a submarine topography navigation system, a geomagnetic field navigation system, a gravitation navigation system, a long base line, a short base line, a calculation system formed by a fiber optic gyroscope and a Doppler log, etc., because of the price, the technology, etc., the calculation system formed by the fiber optic gyroscope and the Doppler log is generally seen at present, the system can meet the use requirements of the underwater robot in price, scale and precision, and the development is greatly increased at home and abroad.

6. Communication technology

For effective monitoring, data transmission, coordination, recovery and the like, the underwater robot needs to communicate. The current communication modes mainly include optical fiber communication and underwater acoustic communication.

The underwater robot can replace manual work to execute some special things, and the underwater robot is used for underwater rescue to assist fire fighters and maritime workers to carry out underwater operation, so that casualties are reduced, and an underwater operation process is executed more accurately. The submarine hydrological detection is carried out, and the submarine water pressure is high, so that a human body can be damaged to a certain degree, the underwater robot has application requirements in operation, but the robot has special requirements on signal transmission of a cable during underwater work, so that operating personnel can see underwater conditions on a shore or a ship, underwater images can be accurately known, and submarine landform information can be quickly and accurately collected. The existing cable can not completely meet the use requirement of an underwater robot due to various defects.

Disclosure of Invention

In order to the problem, the utility model discloses a vision cable for underwater robot, this cable crushing resistance is strong, can realize the transmission of pressure signal transaction under water, realizes the transmission of video effect under water, can ventilate, can increase the buoyancy of cable under water.

The utility model provides a vision cable for underwater robot, includes the protective sheath, the center of protective sheath is provided with tensile wire rope, be provided with power cord and an optic fibre that is greater than one around tensile wire rope in the protective sheath, be provided with video transmission line between the adjacent power cord, between power cord and the optic fibre, the protective sheath is connected with the trachea, tracheal axis sets up with the axis parallel of protective sheath.

Preferably, the protective sleeve is made of a water-resistant PUR material.

Preferably, the inner space of the protective sleeve is filled with water-blocking yarn.

Preferably, the video transmission line is a twisted pair shielding cable, the center of the twisted pair shielding cable is a conductor, and the conductor is coated with an insulating layer, an aluminum-plastic composite tape layer, a tinned copper wire braid layer and a polyester tape layer in sequence.

Preferably, the surfaces of the power line and the optical fiber are both provided with PE material protective layers.

The utility model has the advantages that:

1. through the realization of the cable, the underwater robot can work more smoothly, and a person on a ship or on the shore can directly remotely control and command the robot to work underwater;

2. the underwater breathing assisting device can be matched with marine personnel or firefighters to carry out underwater operation, can accurately see underwater conditions in real time, can provide gas delivery, and can play a role in assisting breathing in the critical time;

3. the buoyancy of the cable under water can be increased by matching the air pipe with the cable, and the cable is prevented from sinking rapidly under water due to weight;

4. the underwater condition can be accurately and timely mastered, and the underwater abnormal condition can be timely fed back through signal information such as video and pressure sensing.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the application and, together with the description, serve to explain the application and are not intended to limit the application.

Fig. 1 is a schematic view of the overall structure of the present invention.

The optical fiber cable comprises a power line 1, a power line 2, an optical fiber 3, a video transmission line 4, a protective sleeve 5, a tensile steel wire rope 6 and an air pipe.

Detailed Description

The technical solutions in the embodiments of the present application will be described clearly and completely with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present application without making any creative effort, shall fall within the protection scope of the present application.

In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature.

In the description of the present invention, unless expressly stated or limited otherwise, the terms "mounted," "connected," and "fixed" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral part; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

The utility model discloses a vision cable for underwater robot as shown in figure 1, the center of this cable sets up a tensile wire rope 5 for increase cable tensile effect, evenly set up three power cords 1 and an optic fibre 2 around tensile wire rope, power cord and optic fibre are close to the contact, and the outside is wrapped up with protective sheath 4. The underwater pressure signal detection device is characterized in that three power lines 1 are adopted to realize power transmission, one multimode optical fiber 2 is adopted to realize transmission of detection signals of underwater pressure signals, a group of video transmission lines 3 are arranged between adjacent power lines and between the power lines and the optical fibers in a protective sleeve, four groups of video transmission lines are provided, the video transmission lines are twisted-pair shielding lines, the four groups of twisted-pair shielding lines realize visual signal transmission, the protective sleeve is made of water-resistant PUR materials and has the functions of bending resistance and torsion resistance, and the central gap part is completely filled with water-blocking yarns. An air pipe 6 is integrated with the cable, so that air conveying can be realized, and buoyancy of the cable under water can be increased in an auxiliary mode. The dynamic insulation wire core is formed by compositely twisting fine copper wires with the outer diameter of 0.08mm through a bundling wire and a non-twist composite stranded wire device, and the twisting direction is the same direction, so that the conductor is tighter and almost has no gap.

The insulating material of the power insulating wire core adopts the density of 0.96g/mm ³ The PE material has a production mode of extrusion, and the gap between the conductor and the insulating material is reduced.

The video network twisted pair conductor is formed by compositely twisting fine copper wires with the outer diameter of 0.08mm through a bundle wire and a non-twist composite twisted wire device, and the twisting direction is the same direction, so that the conductor is tighter and almost has no gap.

The video network twisted wire pair is made of insulating material with the density of 0.98g/mm ³ The HDPE material has a production mode of extrusion, and the gap between the conductor and the insulating material is reduced.

The video network twisted wire pair wire cores are twisted pairwise, a twistless pair twisting machine is used for twisting during twisting, and the twisting direction is consistent with the twisting direction of the conductor.

After the video network twisted wire pairs are twisted pairwise, an aluminum-plastic composite tape is wrapped, and then tinned copper wires are woven, so that interference caused by high-frequency signals and low-frequency signals can be shielded. The overlapping degree of the aluminum-plastic composite belt is ensured to be more than 30% during wrapping, and the weaving density of the tinned copper wire is ensured to be more than 85%.

After the tinned copper wire is woven by the video network twisted wire, a polyester tape is used for wrapping, and the phenomenon of copper leakage is avoided.

The optical fiber adopts 62.5/125 multimode optical fiber, and the interior of the optical fiber must be tightly filled, so that no gap is allowed to be formed and water is prevented from entering the optical fiber.

The thin steel wire rope is formed by twisting 7 stainless steel wires with the diameter of 0.2mm, and the twisting distance is 5-6 mm.

3 power wire cores, 4 pairs of video network twisted wires, 1 multimode optical fiber and 1 thin steel wire rope are cabled, the cabling direction is consistent with the video network twisted wire pair direction, the cabling lay length is 8 times of the outer diameter of the cabled wire, and a layer of light non-woven fabric is wrapped outside the cabled wire.

After the cabling is finished, the PUR is used as a sheath material of the cable for extrusion, and the density is 0.96g/mm ³ The PE material is extruded out of the air pipe, and the PE material and the air pipe are simultaneously extruded out by adopting a special extrusion die, so that the PE material and the air pipe can be bonded together.

Although the present invention has been described with reference to the accompanying drawings, it is not intended to limit the scope of the present invention, and those skilled in the art should understand that various modifications or variations that can be made by those skilled in the art without inventive work are still within the scope of the present invention.

Claims (5)

1. The utility model provides a vision cable for underwater robot, its characterized in that, includes the protective sheath, the center of protective sheath is provided with tensile wire rope, be provided with more than a power cord and an optic fibre around tensile wire rope in the protective sheath, be provided with video transmission line between the adjacent power cord, between power cord and the optic fibre, the protective sheath is connected with the trachea, tracheal axis and the axis parallel arrangement of protective sheath.

2. The vision cable for underwater robots of claim 1, wherein said protective sheath is made of water-resistant PUR material.

3. The vision cable for underwater robots of claim 1, wherein the voids in said protective sheath are filled with water blocking yarn.

4. The vision cable for the underwater robot as claimed in claim 1, wherein the video transmission line is a twisted pair shielded cable, the center of the twisted pair shielded cable is a conductor, and the conductor is coated with an insulating layer, an aluminum-plastic composite tape layer, a tinned copper wire braid layer and a polyester tape layer in sequence.

5. The vision cable for underwater robots of claim 1, wherein the surfaces of said power line and optical fiber are provided with a protective layer of PE material.

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