The invention belongs to the technical field of underwater unmanned underwater vehicles, and particularly relates to a UUV (Unmanned Underwater Vehicle) device for laying micro optical cables underwater. The underwater robot is compact and reasonable in structure, light in weight, high in strength and small in working resistance, snorkeling, advancing, retreating and yawing actions are executed underwater through the multiple sets of ducted propellers installed on the whole body, a Pixhawk controller and a Raspberry Pi are integrated in an internal electronic cavity, an underwater searchlight and a camera are matched, a neural network PID control algorithm is adopted, and the underwater robot is more stable in performance. In the autonomous laying process of the underwater micro optical cable, the control module obtains the tension detected by the three-axis tension sensor and adjusts the rotating speed output by the waterproof motor in real time, so that the tension fluctuation of the micro optical cable in the underwater laying process is controlled within +/-2%, the loss of the optical cable is reduced to be within 0.5 dB/km, and the constant tension control of the micro optical cable in the underwater laying process can be realized.
本发明属于水下无人潜航器技术领域,具体涉及一种用于水下布放微细光缆的UUV装置。本发明结构紧凑合理,同时重量轻、强度高、工作阻力小,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,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,可实现微细光缆在水下布放时的恒张力控制。
UUV (Unmanned Underwater Vehicle) device for laying micro optical cable underwater
一种用于水下布放微细光缆的UUV装置
2025-02-28
Patent
Electronic Resource
Chinese
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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