The invention belongs to the technical field of underwater unmanned underwater vehicles, and particularly relates to an underwater micro optical cable autonomous laying device and a UUV. The underwater fine optical cable autonomous laying device is compact and reasonable in structure, light in weight, high in strength and small in working resistance, a neural network PID control algorithm is adopted, in the underwater fine optical cable autonomous laying process, the control module obtains tension detected by the three-axis tension sensor, the rotating speed output by the waterproof motor is adjusted in real time, and the underwater fine optical cable laying speed is adjusted in real time. The tension fluctuation of the micro optical cable in the underwater laying process is controlled within +/-2%, and the loss of the optical cable is reduced to be within 0.5 dB/km. The invention further provides a UUV carrying the underwater micro optical cable autonomous laying device, snorkeling, advancing and retreating and yawing actions are executed underwater through multiple sets of ducted propellers installed on the whole body, a Pixhawk controller and a Raspberry Pi are integrated in an internal electronic cavity, and constant tension control over the micro optical cable can be achieved when the micro optical cable is laid underwater in cooperation with an underwater searchlight and a camera.

    本发明属于水下无人潜航器技术领域,具体涉及一种水下微细光缆自主布放装置及UUV。本发明提供的水下微细光缆自主布放装置,结构紧凑合理,同时重量轻、强度高、工作阻力小,采用神经网络PID控制算法,在水下微细光缆自主布放过程中,控制模块获取三轴张力传感器检测到的张力,并实时调节防水电机输出的转速,使微细光缆在水下布放过程中张力波动控制在±2%以内,降低光缆损耗至0.5dB/km以内。本发明还提供了搭载水下微细光缆自主布放装置的UUV,通过周身安装的多组涵道式推进器,实现在水下执行浮潜、进退、偏航动作,在内部电子腔内集成有Pixhawk控制器和树莓派,配合水下探照灯和摄像头,可实现微细光缆在水下布放时的恒张力控制。


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    Title :

    Underwater micro optical cable autonomous laying device and UUV


    Additional title:

    一种水下微细光缆自主布放装置及UUV


    Contributors:
    WANG ZEXUAN (author) / WEN YIZHUO (author) / CHEN JIAHAO (author) / LI MENGSHU (author) / YANG ZHIXUN (author) / WANG XINGYUAN (author) / LI XIN (author) / DONG LIQIANG (author) / ZHAO YIBO (author) / LIU YIMENG (author)

    Publication date :

    2024-12-27


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G02B Optische Elemente, Systeme oder Geräte , OPTICAL ELEMENTS, SYSTEMS, OR APPARATUS / B63C LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS , Zuwasserlassen, Trockenstellen, Docken oder Bergen von Schiffen / B63G OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS , Angriffs- oder Verteidigungsanordnungen auf Schiffen



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