CN-122026251-A - Marine fishing device of submarine cable end

CN122026251ACN 122026251 ACN122026251 ACN 122026251ACN-122026251-A

Abstract

The application discloses a submarine cable end marine fishing device, which belongs to the technical field of submarine cable laying equipment and comprises an underwater mobile device, a bionic octopus type flexible grabbing system and an acousto-optic magnetic composite navigation and positioning system, wherein the bionic octopus type flexible grabbing system and the acousto-optic magnetic composite navigation and positioning system are arranged on the underwater mobile device, the acousto-optic magnetic composite navigation and positioning system comprises a sonar, a laser radar and a magnetometer, the sonar is used for remotely detecting the position of the cable end and the submarine topography, the laser radar is used for providing high-precision three-dimensional point cloud data, the auxiliary device is used for avoiding barriers and planning paths, the magnetometer is used for detecting weak magnetic fields generated by the cable end due to current so as to achieve accurate positioning, and the bionic octopus type flexible grabbing system is used for grabbing the submarine cable end. The application can still maintain high positioning precision in low visibility or turbid water area, and reduces the dependence on artificial marking. The silica gel arm is through negative pressure absorption and frictional force dual function fixed cable end, reduces slippage and damage in the snatching process.

Inventors

ZHANG YONGKANG
LIN CHAOHUI
HU MING
FAN YONGCHUN
WANG JINGFENG
ZHOU BING
BI MINGJUN
XIA FENG

Assignees

广东工业大学

Dates

Publication Date: 20260512
Application Date: 20260206

Claims (8)

1. The marine salvaging device for the submarine cable end is characterized by comprising an underwater mobile device, a bionic octopus type flexible grabbing system and an acousto-optic-magnetic composite navigation and positioning system, wherein the bionic octopus type flexible grabbing system and the acousto-optic-magnetic composite navigation and positioning system are arranged on the underwater mobile device and comprise a sonar, a laser radar and a magnetometer, the sonar is used for remotely detecting the position of the cable end and the submarine topography, the laser radar is used for providing high-precision three-dimensional point cloud data, the auxiliary device is used for avoiding barriers and planning paths, the magnetometer is used for detecting weak magnetic fields of the cable end due to current so as to achieve accurate positioning, and the bionic octopus type flexible grabbing system is used for grabbing the submarine cable end.
2. The marine fishing device with the submarine cable end according to claim 1, wherein the bionic octopus type flexible grabbing system is characterized in that a plurality of flexible silica gel arms are adopted as grabbing mechanisms, and miniature hydraulic or pneumatic driving units are arranged in the silica gel arms and can be used for independently controlling bending and stretching, so that the fitting grabbing of complex shapes is achieved.
3. The marine salvaging device for submarine cable ends according to claim 2, wherein the surface of the silica gel arm is covered with a micro-nano bionic sucker structure, and the cable ends are fixed by the double functions of negative pressure adsorption and friction force so as to reduce slippage and damage in the grabbing process.
4. The submarine cable end marine fishing device according to claim 1, wherein the underwater mover is provided with an energy self-supply system which adopts solar energy-wave energy composite power generation, and the energy self-supply system comprises a flexible solar panel and a wave energy conversion device, wherein the flexible solar panel is arranged on the upper surface of the underwater mover, and the wave energy conversion device adopts an oscillating water column type or pendulum type wave energy conversion device.
5. The submarine cable end marine fishing device according to claim 1, wherein a wireless charging system is arranged on the underwater mover.
6. The submarine cable end marine fishing device according to claim 1, wherein a lifting lug is arranged on the top of the underwater mover, the lifting lug is connected with a recovery rope on a winch, and the winch is arranged on a sea surface platform.
7. The marine cable-end head salvaging apparatus as set forth in claim 6, wherein said recovery line is a carbon wire.
8. The marine fishing device with submarine cable ends according to claim 1, wherein the bionic octopus type flexible grabbing system and the acousto-optic-magnetic combined navigation and positioning system are arranged at the front part of the underwater shifter, the propeller is arranged at the rear part of the underwater shifter, two lifting propellers are arranged at the bottom of the underwater shifter, and the telescopic support frame is arranged at the bottom of the underwater shifter.

Description

Marine fishing device of submarine cable end Technical Field The invention relates to the technical field of submarine cable laying equipment, in particular to a submarine cable end socket offshore salvaging device. Background In submarine cable laying, it is often necessary to lay and connect in segments due to the longer submarine cable length. In the segment connection process, the submarine cable end needs to be salvaged for connection operation so as to ensure the continuity and stability of the submarine cable. Sea cables are usually laid on the seabed which is hundreds of meters or even thousands of meters deep, so that the sea cable end with a relatively small diameter is found from the wide sea area, and the traditional locating method of the fishing equipment is low in efficiency and poor in accuracy like a sea fishing needle. The salvaging efficiency is low, and the traditional salvaging tool and method can not adapt to the characteristics of complex submarine environment and submarine cable, so that the salvaging process takes longer time, and the maintenance cost and the time cost are increased. For example, in shallow sea areas, simple detection and repair can be achieved by manual work, but in deep sea areas, manual operation is extremely difficult. Disclosure of Invention The invention aims to provide a submarine cable end socket offshore fishing device which can be accurately positioned and has high fishing efficiency. In order to solve the technical problems, the invention adopts the following technical scheme: The marine salvaging device for the submarine cable end comprises an underwater mover, a bionic octopus type flexible grabbing system and an acousto-optic-magnetic composite navigation and positioning system, wherein the bionic octopus type flexible grabbing system and the acousto-optic-magnetic composite navigation and positioning system are arranged on the underwater mover, the acousto-optic-magnetic composite navigation and positioning system comprises a sonar, a laser radar and a magnetometer, the sonar is used for remotely detecting the position of the cable end and the submarine topography, the laser radar is used for providing high-precision three-dimensional point cloud data, an auxiliary device is used for avoiding barriers and path planning, the magnetometer is used for detecting weak magnetic fields generated by the cable end due to current so as to achieve accurate positioning, and the bionic octopus type flexible grabbing system is used for grabbing the submarine cable end. The acousto-optic-magnetic composite navigation and positioning system realizes the fusion of multi-source information and has the advantages that high positioning accuracy can be maintained in low-visibility or turbid water areas, and dependence on manual marking is reduced. Further, the bionic octopus type flexible grabbing system adopts a plurality of flexible silica gel arms as grabbing mechanisms. The mechanical clamping jaw has the advantages of being suitable for cable ends with different diameters and materials, soft in grabbing process and capable of avoiding rigid impact of the traditional mechanical clamping jaw. The silica gel arm is internally provided with a miniature hydraulic or pneumatic driving unit, and can independently control bending and stretching, so that the lamination grabbing of complex shapes is realized. Further, the surface of the silica gel arm is covered with the micro-nano bionic sucker structure, and the cable end is fixed through the dual functions of negative pressure adsorption and friction force, so that slippage and damage in the grabbing process are reduced. Further, the underwater shifter is provided with an energy self-supply system which adopts solar energy-wave energy combined power generation. Further, the energy self-supply system comprises a flexible solar panel and a wave energy conversion device, wherein the flexible solar panel is arranged on the upper surface of the underwater shifter, and the wave energy conversion device adopts an oscillating water column type or pendulum type wave energy conversion device. The device has the advantages of reducing the dependence on external energy sources and realizing long-term autonomous operation. Further, a wireless charging system is arranged on the underwater shifter. Further, the top of the underwater shifter is provided with a lifting lug, the lifting lug is connected with a recovery rope on a winch, and the winch is arranged on a sea surface platform. Further, the recovery rope adopts a carbon wire. Further, the bionic octopus type flexible grabbing system and the acousto-optic magnetic composite navigation and positioning system are arranged at the front part of the underwater shifter, the propeller is arranged at the rear part of the underwater shifter, two lifting propellers are arranged at the bottom of the underwater shifter, and a telescopic support frame is arranged at the bottom of the underwater