The invention belongs to the technical field of underwater cable laying, and particularly relates to a multi-submersible-vehicle-based collaborative programmable type unmanned autonomous laying system for a hydrophone array cable. After a workboat carries a hydrophone array cable reel to reach an operation area, multiple groups of unmanned submersible vehicles are released, and the front end of a hydrophone array cable sequentially penetrates through a lower sleeve of a three-way connector carried by each unmanned submersible vehicle; the workboat allocates tasks to all the unmanned submersible vehicles, in the moving process of the unmanned submersible vehicles, tension between the electromagnet device and the motor sliding block is monitored through the tension sensor, so that the tension borne by the hydrophone array cable is calculated, adjustment is conducted through movement of the motor sliding block on the guide rail, and then the unmanned submersible vehicles are controlled to move. The tension fluctuation of the hydrophone array cable in the underwater laying process is controlled within +/-2%, and constant tension control is realized; when all the unmanned submersible vehicles arrive at the designated positions, the electromagnet devices carried by the unmanned submersible vehicles are controlled to be invalid, the three-way connector carries the hydrophone array cable to sink to the preset position, and the laying task is completed.

    本发明属于水下布缆技术领域,具体涉及一种基于多潜器协同可编程式的水听器阵列缆无人自主布放系统。作业船携带水听器阵列缆卷筒抵达作业区域后,释放多组无人潜器,水听器阵列缆前端依次穿过各无人潜器搭载的三通连接器下部套筒;作业船向各无人潜器分配任务,无人潜器移动过程中,通过张力传感器监测电磁铁装置与电机滑块之间的张力,从而计算出水听器阵列缆所受的张力,并通过电机滑块在导轨上的运动进行调节,保证水听器阵列缆在水下布放过程中张力波动控制在±2%以内,实现恒张力控制;当所有无人潜器抵达指定位置后,同时控制各自携带的电磁铁装置失效,三通连接器携带水听器阵列缆下沉到预定位置,完成布放任务。


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    Title :

    Collaborative programmable type unmanned autonomous laying system for hydrophone array cable based on multiple submersible vehicles


    Additional title:

    一种基于多潜器协同可编程式的水听器阵列缆无人自主布放系统


    Contributors:
    YANG ZHIXUN (author) / WANG ZEXUAN (author) / WANG XINGYUAN (author) / YANG YUNFAN (author) / ZHAO YIBO (author) / WANG GANG (author) / DONG LIQIANG (author) / LI MENGSHU (author) / LU YUCHENG (author) / LIAO HUANG (author)

    Publication date :

    2025-03-04


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G02B Optische Elemente, Systeme oder Geräte , OPTICAL ELEMENTS, SYSTEMS, OR APPARATUS / B63B Schiffe oder sonstige Wasserfahrzeuge , SHIPS OR OTHER WATERBORNE VESSELS / G01L Messen von Kraft, mechanischer Spannung, Drehmoment, Arbeit, mechanischer Leistung, mechanischem Wirkungsgrad oder des Drucks von Fluiden , MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE / H02G INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES , Verlegen oder Installieren elektrischer Kabel oder Leitungen, Verlegen oder Installieren kombinierter optischer und elektrischer Kabel oder Leitungen



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