JP6036611B2 - Cable extension device - Google Patents

Description

  The present invention relates to a submarine cable extending device that automatically lays a cable on the bottom of a water while matching the moving speed.

Japanese Patent No. 48563535

In recent years, earthquake and tsunami submarine observation networks have been constructed in preparation for earthquakes and tsunamis. It enables real-time observation of changes in the sea floor that cannot be captured on land. This submarine observation network is composed of trunk cables, termination devices, nodes, observation devices, and the like. The trunk cable is arranged in a specific place, for example, in a loop shape. A node is connected to the trunk cable via a termination device. A node is a branching device, from which an observation device is connected by a cable. In this seismic and tsunami submarine observation network, the technology of how to lay (extend) the cable connecting the node and the observation device precisely and efficiently on the seabed is important.
The distance between the node and the observation device is approximately 10 km. The extension of the cable to this section is performed by a cable extension device mounted on a ROV (Remotely operated vehicle) suspended from the work boat, but there is a limitation on the moving speed, and the time is 10 hours.

  In the conventional cable laying method, an anchor member temporarily attached to one end of a cable to be laid and a bobbin around which the remaining portion of the cable is wound are detachably attached to the ROV, and the ROV is installed in the sea. The anchor member is positioned near one node and the tip of the cable temporarily attached to the anchor member and the ROV together with the anchor member are towed by the marine work ship, and the bobbin is moved to the vicinity of the other observation device. By moving the cable, the cable wound around the bobbin is sequentially sent out and laid, the bobbin is separated from the ROV and is bottomed, and both ends of the cable are connected to equipment such as an observation device (see Patent Document 1). ).

  In addition, the adjustment of the amount of cable that is fed out from the bobbin allows the operator to visually check the cable landing angle displayed on the display device on the work boat, and adjust the bobbin rotation speed so that the angle is constant. It was done by operating.

  As described above, the laying of the cable is a long work for 10 hours, and the feeding control of the cable is performed while the operator visually confirms the state of the cable displayed on the display device. There was a problem that work was heavy and work was not efficient.

  SUMMARY OF THE INVENTION An object of the present invention is to provide a stretching apparatus that automatically controls a cable feeding length and efficiently stretches a cable.

1stly, the cable extension apparatus which concerns on this invention is mounted | worn with a submersible mobile device, a control part, a cable bobbin which lays a laying cable and pays out the said laying cable, and each three-dimensional direction with respect to the water bottom face of the said submerged mobile device A movement information acquisition unit that acquires the movement speed and the altitude from the water bottom, and the control unit calculates the movement speed in each three-dimensional direction acquired from the movement information acquisition unit and the altitude from the water bottom. It is a ratio of the moving speed of the underwater mobile device, the moving distance of the underwater mobile device calculated from the moving speed of the underwater mobile device, and the payout cable length calculated from the cable payout speed obtained from the rotation speed of the bobbin motor. to control the feeding speed for feeding the laying cable so that the amount of slack is smaller than 1 as a target slack amount set in advance based on the slack amount It is intended.
As described above, the cable feeding speed is controlled in accordance with the moving speed, so that the cable can be fed efficiently.
2ndly, in the cable extending | stretching apparatus which concerns on above-described this invention, it is desirable to provide the extending | stretching sheave which pays out the laying cable extended | stretched from the said cable bobbin toward a water bottom face.
By providing the feeding sheave in this way, the laying cable can be stably fed out.
Thirdly, in the above-described cable extension device according to the present invention, the cable bobbin is rotated by the first rotation drive motor, the feeding sheave is rotated by the second rotation drive motor, and the control unit is configured by the first and the second rotation drive motors. It is desirable to control the feed-out speed at which the laying cable is fed out by controlling the rotational speed of the rotational drive motor No. 2.
As described above, the rotational speeds of the first and second rotary drive motors for feeding the cable are controlled by the speed calculated from the movement speed acquired from the movement information acquisition unit and the altitude from the bottom of the water. The cable can be extended to extend it.
Fourth, in the above-described cable extension device according to the present invention, the control unit calculates each of the three-dimensional direction moving speed and the altitude value from the water bottom acquired from the movement information acquiring unit by a Kalman filter. It is preferable that the movement speed of the underwater mobile device is obtained from the value calculated by the calculation, and the optimum movement speed is calculated by calculating the Kulman filter for the speed.
Thus, by using the Kalman filter, it is possible to obtain an optimum value in consideration of noise for the measurement value acquired from the movement information acquisition unit, and using this value, the first and second rotary drive motors can be obtained with higher accuracy. The number of rotations can be controlled.

Fifth, in the cable extension device according to the present invention described above, the control unit sequentially calculates the radius of the laying cable wound around the cable bobbin according to the number of rotations of the first rotation drive motor. A value obtained by multiplying the calculated radius and the angular velocity of the cable bobbin calculated from the number of rotations per unit time of the first rotary drive motor, per unit time of the sheave radius and the second rotary drive motor. It is desirable to control the first and second rotary drive motors so that a value obtained by multiplying the angular velocity of the sheave calculated from the number of rotations is greater.
In this way, the cable can be fed out stably because the radius of the cable wound around the bobbin is sequentially calculated in consideration of the cable to be fed out and the first rotary drive motor is controlled.
Sixthly, in the cable extending apparatus according to the present invention, it is desirable to include a display unit for displaying a preset value as a laying cable feeding speed, a laying cable feeding length, and the target slack amount at a remote location. .
Thus, the operation is simplified by being displayed on the display unit.

7thly, in the cable extension apparatus which concerns on this invention, it is desirable to provide the input part which can set the quantity preset as slack quantity in a remote place.
As described above, the operation is facilitated by the presence of the input unit.
Eighth, the cable extension device according to the present invention includes an imaging unit that monitors the marking applied to the laying cable and acquires an image of the marking unit, and the control unit is acquired by the imaging unit. The image processing is performed on the image, the laying cable payout length is calculated from the number of markings obtained by the image processing, and based on the laying cable payout length measured from the number of markings, It is desirable to correct the feeding length .
Thus, since the number of markings attached to the laying cable can be calculated, the length of the fed cable can be corrected.
Ninthly, in the cable extending apparatus according to the present invention, it is desirable to provide a dedicated control adjusting unit capable of remotely controlling the first and second rotary drive motors.
Thus, simple control becomes possible by providing a dedicated control box.
10thly, in the cable extending apparatus which concerns on this invention, it is desirable to provide the tension | tensile_strength measurement part which measures the tension | tensile_strength at the time of laying operation | movement of a laying cable.
Thus, a cable can be handled safely by providing a tension measuring part.

  According to the present invention, the first and second rotary drive motors for feeding the cable in accordance with the speed in the movement direction calculated from the speed in the three-dimensional direction acquired from the movement information acquisition unit and the altitude from the water bottom. Since the number of rotations is controlled, the cable feed amount can be automatically controlled, and the cable can be efficiently extended.

It is a figure showing the outline | summary of the submarine cable extension operation | work which concerns on embodiment. It is a figure showing operation | movement of the cable bobbin and feeding sheave which concern on embodiment. It is a figure showing the difference in the method of calculating | requiring the moving speed by the difference in the movement condition of ROV in the sea. It is a figure showing the cable extension apparatus which concerns on 1st Embodiment. It is a figure showing the cable extension apparatus which concerns on 2nd Embodiment. It is a figure showing the cable extension apparatus which concerns on 3rd Embodiment.

<1. Outline of cable extension method>
The outline of the cable extension method will be described below with reference to FIGS.
As shown in FIG. 1, the cable extension operation is performed while moving an underwater mobile vehicle (hereinafter referred to as ROV (Remotely operated vehicle)) 7 suspended on a work ship 1 that navigates the sea surface 8.
The work boat 1 plays a role of controlling the towing of the ROV 7, and includes a data processing device 1a including a display unit and the like. The work ship 1 and the ROV 7 are connected by a cable 30, and electric power is supplied from the work ship 1 to the ROV 7 via this cable, and control signals are exchanged between the work ship 1 and the ROV 7.
The ROV 7 is an underwater explorer that is remotely controlled and includes a buoyancy device and a propulsion device. Here, the cable extension device 2 including the cable bobbin 3, the sheave 4, and the movement information acquisition unit 5 is attached to the ROV 7, and this is used for attaching the cable extension device 2 to perform cable extension. The operating state of the cable extension device 2 and the like are displayed on the display unit of the data processing device 1a provided in the work boat 1, and the cable extension device 2 can be controlled by the data processing device 1a. Various parameters such as a slack amount target value 12 described later can be set.

A cable 6 for laying is wound around the cable bobbin 3, and the cable 6 for laying is fed out by rotating the shaft of the cable bobbin 3.
The sheave 4 feeds the laying cable 6 fed out from the cable bobbin 3 toward the seabed 9 at a constant speed so that the laying cable 6 does not loosen while rotating the shaft of the sheave 4. The sheave 4 is provided with a groove corresponding to the diameter of the laying cable 6, and the laying cable 6 is placed along the groove so that the laying cable 6 is not detached or deformed.
The movement information acquisition unit 5 is a movement sensor. For example, a Doppler type ground velocity meter (Doppler Velocity Log, DVL) is used that generates sound waves on the seabed 9 and obtains the ground movement speed from the Doppler shift of reflected waves. The movement speed of the ROV 7 can be calculated from the data acquired by the movement information acquisition unit 5.
For the extension of the laying cable 6, the laying cable 6 wound around the cable bobbin 3 is drawn out by the rotation of the cable bobbin 3, and the drawn out laying cable 6 is drawn out toward the sea bottom 9 by the sheave 4. At the same time, the movement speed of the ROV 7 is calculated from the data acquired from the movement information acquisition unit 5, the rotation of the cable bobbin 3 and the rotation of the sheave 4 are controlled according to the speed, and the laying cable is drawn out at an optimum speed, and the cable is extended. Can be automated.
In addition, a simple type of expansion device 2 without the sheep 4 can be provided. In this case, the laying cable 6 drawn out from the cable hobbin 3 is drawn out directly to the sea bottom.

Next, the relationship between the feeding speed of the laying cable 6 by the cable bobbin 3 and the feeding speed of the laying cable 6 by the sheave 4 will be described with reference to FIG. First, the angular velocity is obtained from the number of rotations per unit time of the cable bobbin 3 or sheave 4. Assuming that the angular velocity is ω, ω = (2π × rotational speed) / 60. In this case, the number of rotations is the number of rotations per minute.
As shown in FIG. 2A, the angular velocity of the cable bobbin 3 is ω _B and the radius of the cable bobbin 3 is r _B. This r _B is not the radius of the cable bobbin 3 but the radius of the laying cable 6 wound around the cable bobbin 3. ω _B is obtained from the number of rotations of the cable bobbin 3 per unit time. Then, the feeding speed of the laying cable 6 by the cable bobbin 3 can be expressed by v _B = ω _B × r _B.
Similarly, when the angular velocity of the sheave 4 is ω _S and the radius of the sheave 4 is r _S , the feeding speed of the laying cable 6 of the sheave 4 can be expressed by v _S = ω _S × r _S. ω _S is obtained from the number of rotations of the sheave 4 per unit time.
Here, the relationship between the feeding speed v _B of the laying cable 6 by the cable bobbin 3 and the feeding speed v _S of the laying cable 6 by the sheave 4 must be v _S ≧ v _B. This is because when the relationship of v _S <v _B is established, the laying cable 6 becomes loose as shown in FIG. 2B, which hinders the cable expansion. The rotational speed of the cable bobbin 3 and sheave 4 is controlled so that v _S ≧ v _B, and the laying cable 6 is extended. At this time, the radius r _B decreases by the diameter of the cable every rotation as the laying cable 6 is drawn out. While this value is also calculated at the same time, the relationship of v _S ≧ v _B is maintained.

図３Ｂでは、海底面９が凹凸している状態となっており、ＲＯＶ７は水平に海中を進行する場合である。この場合、ＲＯＶ７の速度Ｖｒｏｖは次の式により算出できる。ｈ’は高度（ｈ）の時間変化を表す変数である。

実際のＲＯＶ７の進行は図３Ａの状態と図３Ｂの状態が複合されたものと考えられる。したがって、ＲＯＶ７の進行速度は以下のように算出される。

With reference to FIG. 3, how to calculate the movement speed of the ROV 7 from the value acquired from the movement information acquisition unit 5 and the method according to the movement mode of the ROV 7 will be described.
FIG. 3A shows a case where the seabed 9 is in a raised state, and the ROV 7 advances while moving up and down in the sea according to its shape.
The movement information acquisition unit 5 can acquire the movement speed in the three-dimensional direction and the altitude from the seabed 9. If this value is Vx, Vy, Vz, h, in FIG. 3A, the velocity Vrov in the traveling direction of ROV 7 can be calculated by the following equation.

In FIG. 3B, the sea bottom 9 is uneven, and the ROV 7 is traveling horizontally in the sea. In this case, the speed Vrov of the ROV 7 can be calculated by the following equation. h ′ is a variable representing a time change of altitude (h).

The actual progress of ROV 7 is considered to be a combination of the state of FIG. 3A and the state of FIG. 3B. Therefore, the traveling speed of ROV 7 is calculated as follows.

Moreover, you may use the value which estimated the optimum value based on the measured value acquired from the movement information acquisition part 5 immediately before using the Kalman filter, and the measured value acquired now using these values.
<2. Cable Extension Device According to First Embodiment>
Hereinafter, the cable extension device 2 according to the first embodiment will be described with reference to FIG.
As shown in FIG. 4, the cable extension device 2 includes a cable bobbin 3, a sheave 4, a movement information information acquisition unit 5, a control unit 11, a sheave motor 20, a sheave motor drive unit 23, a bobbin motor 21, a bobbin motor drive unit 22, and a communication unit 27. Composed.

  The cable bobbin 3 is rotated by the rotation of the bobbin motor 21. The rotation speed of the bobbin motor 21 is adjusted by the control of the bobbin motor drive unit 22. The bobbin motor drive unit 22 is operated under the control of the control unit 11.

The sheave 4 guides the laying cable 6 fed from the cable bobbin 3 toward the seabed 9. Thereby, the laying cable 6 is drawn out toward the seabed 9. As already described, the sheave 4 is provided with a groove corresponding to the diameter of the laying cable 6, and the laying cable 6 is placed along this groove so that the laying cable 6 is not detached or deformed. .
The sheave 4 is rotated by the rotation of the sheave motor 20. The rotational speed of the sheave motor 20 is adjusted by the control of the sheave motor driving unit 23. The sheave motor drive unit 23 is operated under the control of the control unit 11.
As already described, the feeding speed (ω _B × r _B ) of the laying cable 6 by the cable bobbin 3 and the feeding speed (ω _S × r _S ) of the laying cable 6 by the sheave 4 are the feeding speed of the laying cable 6 by the sheave 4. Is controlled to be larger than the feeding speed of the laying cable 6 by the cable bobbin 3.

The control unit 11 is actually composed of, for example, a microcomputer having a central processing unit (CPU), a read only memory (ROM), a random access memory (RAM), various interfaces, and peripheral circuits. FIG. 4 shows a functional configuration for realizing the operation of the embodiment.
As shown in FIG. 4, the processing function includes a feed target speed calculator 13, a slack amount calculator 14, a cable feed speed calculator 15, Kalman filters 17 and 19, and a traveling direction speed calculator 18. These processing functions are realized by software. The slack amount target value 12 is stored in a predetermined storage area in the control unit 11.

数４はプロセスモデル、数５は測定（観測）モデルといわれる。
ここで、ｘはＶｘ、Ｖｙ、Ｖｚ及びｈ’に相当する。ΔＴはサンプリング周期である。ｋは時間である。ｘ’はｘの微分である。ｗ１、ｗ２、νは平均値ゼロの正規分布型のホワイトノイズである。 The processing operation of the control unit 11 will be described. The Kalman filter 19 calculates the optimum values for the three-dimensional movement speeds (Vx, Vy, Vz) and the altitude (h) from the seabed 9 acquired from the movement information acquisition unit 5. However, for the altitude (h), the optimum value of h ′, which is the time change of h, is calculated by the Kalman filter 19. This optimum value is calculated by the following linear equation.

Equation 4 is called a process model, and Equation 5 is called a measurement (observation) model.
Here, x corresponds to Vx, Vy, Vz, and h ′. ΔT is a sampling period. k is time. x ′ is the derivative of x. w1, w2, and ν are normal distribution type white noise having an average value of zero.

The moving speed (Vrov) in the moving direction is calculated by the moving direction speed calculating unit 18 using the optimum value. This calculation is performed using the above-described equation (3).
Further, an optimum value of the velocity (Vrov) in the traveling direction is calculated by the Kalman filter 17. This optimal value is calculated by the linear equations of the above equations (4) and (5). The optimum value obtained here is input to the slack amount calculation unit 14.

  Further, without using the Kalman filters 17 and 19, the three-dimensional movement speeds (Vx, Vy, Vz) acquired from the movement information acquisition unit 5 and the altitude (h) from the sea floor 9 are used. You may use the value calculated from Formula 3 as the moving speed (Vrov) of ROV7.

The cable feeding speed calculation unit 15 is a processing unit that calculates the actual feeding speed of the laying cable 6. As for the feeding speed, the rotation speed of the bobbin motor 21 that rotates the cable bobbin 3 is acquired (output from the bobbin motor 21), the angular speed is obtained from this rotation speed, and this value and the cable bobbin 3 are installed in a circular shape. It is obtained by multiplying by the radius of the entire cable 6. Although the radius of the entire laying cable 6 wound in a circle around the cable bobbin 3 is reduced by the rotation, the feeding speed is required in consideration of this. This feed-out speed is input to the slack amount calculation unit 14.
The slack amount calculation unit 14 is a processing unit that calculates the slack amount (margin) of the laid cable 6 that is fed out.
The slack amount here is a ratio (D / L) between the amount of cable delivery (L) and the moving distance (D) of the ROV 7 when the laying cable 6 is drawn out toward the bottom of the sea by the sheave 4.
When this ratio is larger than 1, a large load is applied to the cable, and in some cases, the cable may be cut, which is inconvenient. Therefore, the expansion work is performed with a certain margin.
Since the laying cable 6 is controlled so as not to loosen between the cable bobbin 3 and the sheave 4, when the laying cable 6 is extended toward the sea bottom by the sheave 4 by setting the slack amount to a value smaller than 1. As a result, a certain amount of slack occurs between the sheave 4 and the seabed 9. A constant slack can be obtained by adjusting the slack amount.
The target slack amount is set in advance by the operator. This value is stored in the storage area as the slack amount target value 12. The numerical setting is input from the input unit 34 (keyboard or the like) of the data processing device 1a of the work boat 1 at a remote location.

  As described above, the slack amount calculation unit 14 receives the feeding speed of the laying cable 6 and the optimum value (moving speed of the ROV 7) obtained by the Kalman filter 17. The feeding cable length (L) is calculated from the feeding speed of the cable obtained from the actual rotational speed of the bobbin motor 21, and the moving distance (D) of the ROV 7 is calculated from the moving speed of the ROV 7. By calculating this ratio (D / L), the actual slack amount in the operating state can be obtained.

The feeding cable target speed calculation unit 13 controls the bobbin motor driving unit 22 and the sheave motor driving unit 23 so that the set slack amount target value 12 is obtained. The actual cable slack amount in the operating state calculated by the slack amount target value 12 and the slack amount calculation unit 14 is input to the feed cable target speed calculation unit 13. The two values are compared, the target slack amount target value 12 is corrected, and the bobbin motor driving unit 22 and the sheave motor driving unit 23 are controlled. As a result, it is possible to perform expansion while maintaining the slack amount target value 12 accurately.
Since the actual slack amount input is zero at the start of the driving operation, the bobbin motor drive unit 22 and the sheave motor drive unit 23 are controlled so that the slack amount target value 12 is obtained, and the bobbin motor 21 and the jeve motor 23 are rotated. . After the operation is started, the actual slack amount in the operation state is obtained, the actual slack amount and the slack amount target value 12 are compared, the slack amount target value 12 is corrected, and the bobbin motor driving unit 22 and the sheave motor driving unit 23 are obtained. To control.
As a result, it is possible to realize a stretching operation that accurately maintains the set slack amount target value 12.

The data processing device 1a installed in the work boat 1 at a remote location includes a control unit 31, a communication unit 32, an input unit 34, a display unit 33, and the like.
The control unit 31 is configured by a CPU or the like, and controls the communication unit 32, the display unit 33, and the input unit 34 by software control.
The data processing device 1 a transmits and receives data to and from the communication unit 27 of the cable extension device 2 via the communication unit 32 under the control of the control unit 31. Thereby, the operation state of the cable extension device 2 and the like are displayed on the display unit 33 of the data processing device 1a. Further, parameters and control signals necessary for the operation of the cable extension device 2 are transmitted from the data processing device 1a.
Specifically, the display unit 33 of the data processing device 1a can display other parameters such as the cable feed speed, the cable feed length, and the slack amount received from the cable extension device 2.
In addition, the data processing device 1a of the work boat 1 is provided with a dedicated control adjusting unit 34a as an input unit 34. The cable 30 is directly connected to the bobbin motor driving unit 22 and the sheave motor driving unit 23 from the dedicated control adjusting unit. The rotation of the bobbin motor 21 and the sheave motor 20 can be adjusted. Thereby, the work burden on the operator of the work boat 1 can be reduced.

<3. Cable Extending Device According to Second Embodiment>
Hereinafter, the cable extension apparatus according to the second embodiment will be described with reference to FIG.
Portions that are the same as those already described are assigned the same reference numerals and description thereof is omitted. In this embodiment, a tensiometer 24 is added to the first embodiment.

The tension meter 24 measures the tension when the laying cable 6 is stretched. As shown in FIG. 5, the measured value of the tension meter 24 is input to the cable target speed calculation unit 13. When the cable target speed calculation unit 13 considers this value and determines that the tension is more than necessary, the cable target speed calculation unit 13 controls the bobbin motor drive unit 22 and the sheave motor drive unit 23 to suppress the rotation of the bobbin motor 21 and the sheave motor 20 or Stop. Thereby, it is possible to avoid the occurrence of an unexpected accident such as cable cutting due to an unexpected force applied to the laying cable 6 during the expansion. That is, a stable stretching operation can be realized.
As the tension meter 24, for example, a three-stage tension meter, a step tension meter, or the like can be assumed.

<4. Cable Extending Device According to Third Embodiment>
Hereinafter, a cable extension device according to a third embodiment will be described with reference to FIG.
Portions that are the same as those already described are assigned the same reference numerals and description thereof is omitted. In the present embodiment, an imaging device 25 is added to the second embodiment, and an image processing unit 26 is added to the control unit 11 as a processing function.

The image pickup device 25 monitors the state of the laying cable 6. For example, the imaging device 25 can monitor the installation angle between the laying cable 6 drawn out toward the seabed 9 and the seabed 9.
As shown in FIG. 6, the image captured by the imaging device 25 is input to the image processing unit 26. The image processing unit 26 performs image processing on the input image. That is, the data is converted into data for each pixel, and the state of pixels in a specific range is determined.
For example, when an image of the installation angle portion is captured, image processing is performed by the image processing unit 26, and information indicating whether or not the determined fixed installation angle is maintained is input to the cable target speed calculation unit 13.
The cable target speed calculation unit 13 can calculate other information and a target value of the cable speed that is fed out including this information. As a result, a more precise and stable cable extension can be realized.

  Further, if marking is performed on the laying cable 6 at regular intervals, the marking portion can be monitored and the marking can be counted from the image. The image of the marking portion captured by the imaging device 25 is input to the image processing unit 26. The image processing unit 26 performs image processing on the input image. This recognizes this marking and counts this number. The actually measured length of the laying cable 6 drawn out from this count number can be measured. This actually measured length is input to the cable target speed calculator 13. The cable target speed calculation unit 13 can correct the extended length of the laying cable 6 obtained from the rotation of the cable bobbin 3 from the actually measured length. As a result, the cable target speed calculation unit 13 can calculate a more accurate target value of the laying cable feeding speed. Thereby, more accurate and stable cable extension can be realized.

  The counting of the marking is not limited to the method based on the image processing captured by the imaging device 25. For example, the laser beam is emitted toward the marking, the reflected light reflected from the marking is received, and the number of markings is counted. Various methods are conceivable.

The cable extension device according to the embodiment described above is preferably attached to the ROV 7 and used to extend the cable connecting the node and the observation device or the like on the sea bottom.
The cable extension device according to the embodiment described above is not limited to laying cables on the seabed, but can be used in the same way when laying cables on the bottom of lakes, rivers, etc. It is not limited to the embodiment.

DESCRIPTION OF SYMBOLS 1 ... Work ship, 2 ... Cable expansion apparatus, 3 ... Cable bobbin, 4 ... Sheave, 5 ... Movement information acquisition part, 7 ... ROV, 11 ... Control part, 17 19 ... Kalman filter, 20 ... Sheave motor, 21 ... Bobbin motor, 24 ... tension meter, 25 ... imaging unit, 33 ... display unit, 34 ... input unit, 34a ... dedicated control adjustment unit

Claims (10)

Attached to the underwater mobile,
A control unit;
A cable bobbin around which a laying cable is wound and which feeds out the laying cable;
A movement information acquisition unit that acquires a movement speed in each three-dimensional direction with respect to the bottom surface of the underwater mobile device and an altitude from the bottom surface;
The control unit calculates the movement speed of the underwater mobile device calculated from the movement speed in each three-dimensional direction acquired from the movement information acquisition unit and the altitude from the bottom of the water, and the movement speed of the underwater mobile device. Compared with 1 which is the target slack amount that is set in advance based on the slack amount that is the ratio of the moving distance of the underwater mobile device and the feeding cable length calculated from the cable feeding speed obtained from the rotation speed of the bobbin motor Cable extension device that controls the delivery speed of the laying cable so that it becomes a small value . The cable extension device according to claim 1, further comprising: a feeding sheave that feeds a laying cable fed from the cable bobbin toward a water bottom surface. The cable bobbin is rotated by a first rotary drive motor;
The feeding sheave is rotated by a second rotary drive motor,
The cable extension device according to claim 2, wherein the control unit controls the number of rotations of the first and second rotation drive motors to control a feeding speed of feeding the laying cable. The control unit performs an operation by a Kalman filter for each three-dimensional direction moving speed and altitude value obtained from the water bottom acquired from the movement information acquiring unit, and from the values calculated by the calculation, the underwater mobile device The cable extension device according to claim 1, wherein an optimum moving speed is calculated by calculating a moving speed of the first and second, calculating the speed by a Kalman filter. The control unit sequentially calculates the radius of the laying cable wound around the cable bobbin according to the number of rotations of the first rotary drive motor, and calculates the calculated radius and the unit of the first rotary drive motor. The value obtained by multiplying the angular velocity of the cable bobbin calculated from the number of rotations per hour by the radius of the sheave and the angular velocity of the sheave calculated from the number of rotations per unit time of the second rotary drive motor. The cable extension device according to claim 3, wherein the first and second rotary drive motors are controlled so that the value becomes larger. The cable extension device according to claim 1, further comprising: a display unit configured to display a preset value as a drawing speed of the laying cable, a drawing length of the laying cable, and the target slack amount at a remote location. The cable extension device according to claim 1, further comprising an input unit capable of presetting the target slack amount at a remote location. An imaging unit that monitors the marking applied to the laying cable and acquires an image of the marking unit,
The control unit performs image processing on the image acquired by the imaging unit, calculates a payout length of the laying cable from the number of markings obtained by the image processing, and measures the laying measured from the number of markings The cable extension device according to claim 3 , wherein the extension length of the laying cable is corrected based on the extension length of the cable. The cable extension device according to claim 3, further comprising a dedicated control adjustment unit capable of remotely controlling the first and second rotary drive motors. The cable extending apparatus according to claim 1, further comprising a tension measuring unit that measures a tension during the laying operation of the laying cable.

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