JPS6260891B2 - - Google Patents

Description

[Detailed Description of the Invention] The present invention provides communication cables and the like (hereinafter referred to as cables) laid on the ocean floor, riverbed, etc.
Work machines equipped with equipment for repair or maintenance or equipment for burying cables (hereinafter referred to as work machines) are safely and quickly fitted, guided along the cables, and then removed after work is completed. The present invention relates to a method for recovering .

As is well known, when carrying out various works such as repair and maintenance of cables laid on the seabed or riverbed, or burying them for cable protection, the working machines used for these various works must be placed on the seabed or riverbed. lowered and mated to the cable, and often
It is necessary to guide this along the cable and collect it after the work is completed. This type of work is accompanied by technically extremely difficult work conditions, such as having to do it quickly, safely, and accurately without damaging the cable and in harsh working environments such as the seabed. In other words, in order to fit a work machine to a cable, it is first necessary to locate the cable, but in order to search for cables laid on the seabed or buried under the seabed, it is generally necessary to locate the cable from the cable. Since we use a method to detect the generated weak magnetic field with an ultra-sensitive magnetic sensor, even if the sensor is mounted on a working machine and used for cable exploration, the sensor's function may be affected by the noise generated from the working machine itself. This significantly obstructs cable search, making it extremely difficult for the work machine to search for the cable. In this case, what you can immediately think of is when to pull the cable up to the work vessel at sea, directly connect the cable and the work machine, and then lower both to the seabed at the same time to use it for work, and after the work is finished, to bring it back. Although it is possible to recover it, using this method on the open ocean is not recommended for the following reasons. In other words, working machines are generally equipped with various heavy equipment and power equipment for performing work, as well as equipment for fitting cables, self-propelled equipment for self-propelled along cables, cable tracking equipment, etc. is also equipped, so the total weight will be around 10 tons, for example. Assuming that the work is to be carried out to lay an international submarine cable, the work will be carried out in the open ocean with high waves, complex currents, and no fixed targets to serve as a reference. Even if you have a repair ship for international cable installation equipped with special equipment or functions such as a bow thruster, it is extremely difficult to lift a heavy working machine fitted with a cable using the crane of a work ship that pitches and rolls heavily. Experience has shown that gradually lowering cables to the ocean floor without damaging them is extremely difficult.

The present invention solves such conventional drawbacks, and also allows a working machine to safely, quickly and accurately fit a working machine to a cable laid on the ocean floor, riverbed, etc. without damaging the cable, and further guide it along the cable. At the same time, the aim is to provide a method for recovering the cable after the work has been completed.
After installing the fitting mechanism consisting of two casings, the fitting mechanism is lowered to the bottom of the water together with the cable, and concurrently with the lowering, the working machine is lowered to the bottom of the water, and then the working machine is moved to its traveling means. to approach the fitting mechanism attached to the cable, and combine the fitting mechanism and the working mechanism by an attachment/detachment mechanism, and guide the working machine along the cable while tracking the cable by a cable tracking mechanism. After the work is completed, the work machine is recovered onto the work boat by disassembling the attachment/detachment mechanism, and further comprising a gripping member provided at the tip of an arm protruding from the front of the work machine. The fitting mechanism and the working machine are combined by the attachment/detachment mechanism configured by the
guiding the working machine along the cable by measuring the amount of vertical and horizontal movement of the arm with a tracking sensor provided at the base of the arm; The fitting mechanism and the working machine are combined by the attachment/detachment mechanism configured, and it also includes a transmitting device provided on the joint of the upper housing, an arm-shaped tracking sensor with a shoe at the tip, etc. A cable tracking mechanism detects the output of the transmitting device and controls the running of the working machine to guide the working machine along the cable, and a detachable mechanism that connects the fitting mechanism and the working machine. In addition to utilizing the attractive force of an electromagnet provided at the bottom of the working machine and magnets provided in the upper and lower casings, the attachment/detachment mechanism is uncoupled by energizing the electromagnets after the work is completed. It is characterized by

Hereinafter, one embodiment of the present invention will be described in detail based on the drawings.

FIG. 1 is a schematic explanatory diagram showing the procedure of bringing a working machine close to a cable and fitting it into the cable according to the present invention. First, the cable 3 laid on the seabed etc. is latched at an arbitrary point by the crane 2 of the work boat 1 and pulled up onto the work boat 1.
is attached (a in the same figure). When the fitting mechanism 4 is installed, the cable 3, which has been suspended by the crane 2, is lowered to the seabed (FIG. 2(b)). Since the fitting mechanism 4 has a built-in transmitting device, it transmits a signal from the seabed to notify its position. Next, around the same time as the cable 3 is lowered, the working machine 5 equipped with equipment for performing specified repairs and maintenance is lowered to the seabed by the crane 2 (c in the same figure), and is lowered to the seabed near the cable 3. The unloaded work machine 5 approaches the fitting mechanism 4 attached to the cable 3 while moving on its own using a traveling means using energy sent via the control cable from the work boat 1 (d in the same figure), and the final Ultimately, the cable is combined with the fitting mechanism 4, and the work of approaching and fitting the cable and the working machine is completed. In addition, when the underwater visibility is good, the work of approaching and mating the cable and the work machine may be carried out based on the image shown on the work boat 1 by the TV camera mounted on the work machine. However, in environments with poor visibility where the TV camera cannot function adequately, the signal transmitted from the transmitting device built into the fitting mechanism 4 can be received by the receiving device installed in the working machine 5. It can also be carried out by self-propelled using a traveling means while measuring the position.

FIG. 2 is a schematic diagram showing an embodiment of the fitting mechanism 4 used in the present invention. The fitting mechanism 4 in this embodiment includes two semi-cylindrical housings 41 ₁ and 41
₂ , the cable 3 is sandwiched between the casings 41 ₁ and 41 ₂ , and the casings 41 ₁ and 41 ₂ are joined using a fastener 42. In FIG. 2a, a transmitting device 43, for example an ultrasonic oscillator, is installed in three locations in the housings 41 ₁ and 41 ₂ so as to equally surround the cable 3 (in the same figure, one on the opposite side is not visible). ), when the fitting mechanism 4 reaches the bottom of the seabed together with the cable 3, at least one transmitting device 43 is always on the upper side of the fitting mechanism 4, and there are no obstructions on the seabed to transmit the signal. Care has been taken to ensure that this does not become a hindrance. In addition, although only one transmitting device 43 is provided in FIG. It's becoming like that.
Note that the shape of the housing 41 is not limited to the semi-cylindrical shape shown in FIG. Any shape may be used as long as the fitting mechanism 4 can be slid by hand, and the fitting mechanism 4 itself may have a self-propelling function.

FIG. 3 is an embodiment showing a method of fitting the working machine 5 and the fitting mechanism 4 and a mechanism for tracking the cable 3 and obtaining tracking information necessary for guiding the working machine 5 after the fitting. FIG. In this embodiment, the attachment/detachment mechanism of the fitting mechanism 4 is joined to the working machine 5 by being grasped from both sides by gripping members 52 provided at the tip of an arm 51 protruding from the front of the working machine 5. The arm 51 can move vertically and horizontally, and if the fitting mechanism 4 moves horizontally or vertically depending on the installation state of the cable 3, the arm 51 can move vertically and horizontally.
also moves left/right or up/down accordingly. At this time, the amount of horizontal and vertical movement of the arm 51 is measured by a tracking sensor 53 that measures the amount of movement in the vertical and horizontal directions provided at the base of the arm 51. It is used as information necessary for maneuvering and controlling. FIG. 3a shows the movement of the arm 51 when the cable 3 is laid in a straight line, and FIG. 3b shows the movement of the arm 51 when the cable 3 is bent to the right in the direction of travel. Therefore, if the traveling of the working machine 5 is controlled so that the arm 51 is always located at the center of the working machine 5, the working machine 5 can be moved without damaging the cable 3 by the traveling means 54, for example, the endless track. Maintenance, repair, and other work can be performed while traveling along the cable 3. Note that after the work is completed, the working machine 5 and the fitting mechanism 4 are separated by uncoupling the attachment/detachment mechanism, and the working machine 5
will be collected by a work boat.

FIG. 4 is a schematic diagram showing another embodiment of the fitting mechanism 4 incorporating the cable tracking mechanism according to the present invention. In this embodiment as well, the fitting mechanism 4 consists of two semi-cylindrical housings 401 ₁ and 401.
₂ , the cable 3 is sandwiched between the casings 401 ₁ and 401 ₂ on the work boat 1 (not shown), and the joint 402 is connected to both casings 401 by a connecting member such as a fastener (not shown). ₁ and 401 ₂ are joined together, and then dropped along with cable 3 to the seabed. On the joint 402 are transmitting devices 403 ₁ , 403 ₂ and 403 ′ as cable tracking mechanisms, such as ultrasonic oscillators or electromagnetic wave oscillators, tracking sensors 404 ₁ and 404 ₂ , and tracking sensors 404 ₁ and 404 .
Switch or potentiometer 4 for 04 ₂
05 ₁ and 405 ₂ are installed. Tracking sensors 404 ₁ and 4 in this embodiment
04 ₂ has an arm shape, and the shoes 406 ₁ and 406 ₂ provided at the tips thereof move up and down or left and right along the laying shape of the cable 3, so that the amount of movement is measured by the tracking sensor 404 ₁
and ₄₀₄₂ .
Further, an arm 501 protruding from the front of the working machine 5 (not shown) is attached to the upper cylindrical portion of the housing ₄₀₁₁ .
(not shown) and the fitting mechanism 4, a coupling member 407 as an attachment/detachment mechanism, for example a strong permanent magnet, is provided. Figure 2 a is
Fitting mechanism 4 incorporating the tracking mechanism
is shown landing on the seabed from the work boat 1 (not shown) together with the cable 3, and the connecting member 40
A weight is embedded in the lower housing ₄₀₁₂ so that the 7 side is always on the upper side. Upon landing on the seabed, the transmitting device 403', for example, an ultrasonic oscillator, automatically transmits ultrasonic waves of a predetermined frequency and serves to inform the working machine 5 (not shown) of the position of the fitting mechanism 4.

On the other hand, transmitting devices 403 ₁ and 403 ₂ , such as ultrasonic oscillators or electromagnetic wave oscillators, arm-shaped tracking sensors 404 ₁ , 404 ₂ with shoes 406 ₁ and 406 ₂ at their tips, and switches or potentiometers 405 ₁ , 4
The tracking mechanism composed of 05 ₂ is
It has the role of informing the work machine 5 of the installation status of the cable 3 (whether it is straight or bent, and if bent, whether it is bent up, down, left or right). In the state shown in FIG. 4a, the cable 3 is laid in a straight line, and at this time the cable 3
06 ₁ and 406 ₂ are both not in contact with cable 3. Therefore, the joint portion 4 of the fitting mechanism 4
The angles θ 1 and θ ₂ between the end of the cable 3 perpendicular to the tracking sensor 404 and the tracking sensor ₄₀₄ are both
Greater than 90°, in this state switch 405 ₁
and ₄₀₅₂ are both set to OFF, so any transmitting device ₄₀₃₁
And no signal is output from ₄₀₃₂ either. On the other hand, in the state shown in FIG. 4b, the cable 3 is bent to the right with respect to the advancing direction (arrow) of the fitting mechanism 4, and at this time, the shoe ₄₀₆₁ on the right side is pushed by the cable 3. θ ₁ becomes smaller than 90°. In this state, the right switch ₄₀₅₁ is
Since it is turned on, a signal is output from the transmitting device ₄₀₃₁ on the right side. At this time, θ ₂ is still 90
Since it is larger than .degree., no signal is output from the left transmitting device ₄₀₃₂ . Therefore, when the working machine 5 (not shown) is coupled with the mating mechanism 4 and advances along the cable 3, both transmitting devices 403 ₁ and 4
Always monitor the output of 03 ₂ , and transmit any transmitter 4.
As long as the traveling of the working machine 5 (not shown) is controlled so that no output is output from 03 ₁ and 403 ₂ , the working machine 5 (not shown) can connect the cable 3
safely and accurately without damaging the cable 3
It will be possible to drive along the road and carry out maintenance, repair, and other work.

In addition, in the above explanation, cable 3 and shoe 40
6 ₁ , 406 ₂ is in non-contact state (straight running state)
We explained the case where the switches 405 ₁ and 405 ₂ are turned off, but by reversing this relationship, we can turn on the switches 405 ₁ and 405 ₂ while driving in a straight line.
It is obvious that the method of In addition, the switches 406 are located at the positions of the switches 405 ₁ and 405 _2.
A variable resistor whose resistance value changes according to the opening amount of ₁ , 406 _{and 2} is placed, and this variable resistor is used to
A method of changing the oscillation frequency of 1,402 is also conceivable.

FIG. 5 is an explanatory diagram of an embodiment showing a method of combining the fitting mechanism 4 incorporating the tracking mechanism shown in FIG. 4 and the working machine 5, and FIG. FIG. 5b shows the case where the holder is connected directly to the working machine 5, and FIG. In this embodiment, the fitting mechanism 4 has a fourth
As shown in the figure, a coupling member 407 provided in the upper cylindrical part of the housing 401 ₁ , for example a strong permanent magnet, is coupled to the working machine 5 directly or via the arm 501. Therefore, after the combination, both transmitting devices 403
As long as the outputs of the transmitters 403 ₁ and 403 ₂ are constantly monitored and the running of the work machine 5 is controlled so that no output is output from either transmitter 403 ₁ or 403 ₂ , the cable 3 can be prevented from being damaged by the work machine 5. The cable 3 can be safely and accurately run along the cable 3 without causing damage, and maintenance, repair, etc. can be performed. Note that if the coupling method shown in FIG. 5b is used, the height of the fitting mechanism 4 from the seabed surface can be set relatively freely, so that the fitting mechanism 4 can be advanced without coming into contact with the seabed surface. In addition, since the tracking mechanism shown in FIG. 4 is located in front of the working machine 5, the laying shape of the cable 3 can be immediately notified to the working machine 5 via the tracking sensors ₄₀₄₁ and ₄₀₄₂ . This not only makes it easier to maneuver the working machine 5, but also reduces the risk of damaging the cable 3. After the work is completed, the working machine 5 and the fitting mechanism 4 are separated, and the working machine 5 is returned to the working boat 1, as will be described later.

FIG. 6 shows the combined fitting mechanism 4 and working machine 5 explained in FIGS. 4 and 5 after the work is completed.
FIG. 2 is an explanatory diagram showing an embodiment of an attachment/detachment mechanism for recovering the working machine 5 onto the working boat 1 after the connection. The work on the bottom of the water by the working machine 5 is shown in Figure 6a.
As shown in FIG. 2, the working machine 5 and the fitting mechanism 4 are connected to each other. Although the coupling in this embodiment uses magnets, the working machine 5 and the fitting mechanism 4 are coupled by the upper casing 401 ₁ and the lower casing 401 ₂ by the attraction action of the magnets 407 ₂ and 407'; This is ensured by the attraction between the magnet ₄₀₇₁ and the lower iron plate of the working machine 5, and the coupling between the working machine 5 and the lower housing ₄₀₁₂ by the electromagnet 502 and the magnet ₄₀₇₂ . Therefore, as shown in FIG. 6b, when a current I is applied to the electromagnet 502 of the working machine 5, a repulsive force is generated between the electromagnet 502 and the electromagnet ₄₀₇₂ , and due to the weight of the cable 3 and the action of the weight 503, the electromagnet 407 ₂ and 407' can be immediately cut off, the upper housing ₄₀₁₁ carrying the tracking mechanism can be connected to the lower part of the work machine 5 by the attraction of the magnet _4071, and the cable 3 This will cause the mating between the two to become uncoupled. Once the connection is broken, the working machine 5 can be easily recovered by the crane 2 of the working boat 1.

Although the explanation has been made using an endless track using a caterpillar as the traveling means of the working machine 5, in this case,
Caterpillars can damage underwater cables. In order to prevent this, the housing constituting the fitting mechanism 4 that sandwiches the cable should be made of a material that will not collapse even if it is pinched by the caterpillar, and the length of the cable in the axial direction should be made longer. The work machine may be self-propelled by a screw instead of a caterpillar.

As described above in detail based on the embodiments shown in the drawings, according to the present invention, a working machine can be safely, quickly, and accurately fitted to a cable laid on the seabed, riverbed, etc. Furthermore, it can be guided along the cable and recovered after the work is completed.

[Brief explanation of the drawing]

Fig. 1 is a schematic explanatory diagram showing a procedure for bringing a working machine close to a cable and fitting it with the cable in the present invention, and Fig. 2 is a schematic diagram showing an embodiment of a fitting mechanism used in the present invention. , FIG. 3 is an explanatory diagram of an embodiment showing a method of fitting a working machine and a fitting mechanism, and a mechanism for tracking a cable and obtaining tracking information necessary for guiding a working machine after fitting. , FIG. 4 is a schematic diagram showing another embodiment of the fitting mechanism incorporating the cable tracking mechanism according to the present invention, and FIG. 5 is a schematic diagram showing another embodiment of the fitting mechanism incorporating the tracking mechanism shown in FIG. 4. Explanatory diagram of an embodiment showing a method of coupling with a working machine, No. 6
The figure is an explanatory view showing one embodiment of a fitting mechanism and a working machine attachment/detachment mechanism. In the drawings, 1 is a work boat, 2 is a crane, 3 is a cable, 4 is a fitting mechanism, 41 ₁ and 41 ₂ , 40
1 ₁ and 401 ₂ are housings, 42 are fasteners, 40
2 is the joint, 43,403 ₁ and 403 _2,4
03' is a transmitting device, 44 is a weight, 404 ₁ and 404 ₂ are tracking sensors, 405 ₁ and 405 ₂ are switches, 406 ₁ and 406 ₂
is Shu, 407,407 _{1,407 2,40}
7' is a coupling member (magnet), 5 is a working machine, 51, 5
01 is an arm, 52 is a gripping member, 53 is a tracking sensor, 54 is a traveling means, 502 is an electromagnet,
503 is a weight.

Claims (1)

[Claims] 1. Pulling any part of the cable onto the work boat,
After attaching a fitting mechanism consisting of two casings that sandwich the cable to the cable, the fitting mechanism is lowered to the bottom of the water together with the cable, and simultaneously with the lowering, the working machine is lowered to the bottom of the water, and then the fitting mechanism is lowered to the bottom of the water. The working machine is brought close to the fitting mechanism attached to the cable by its traveling means, and the fitting mechanism and the working machine are combined by a detachable mechanism, and the working machine is moved while tracking the cable by a cable tracking mechanism. A method for fitting, guiding and recovering a working machine for an underwater cable, characterized in that the working machine for an underwater cable is guided along the cable, and after the work is completed, the working machine is recovered onto the working vessel by uncoupling the attachment/detachment mechanism. 2. Combining the fitting mechanism and the working machine with a detachable mechanism constituted by a gripping member provided at the tip of an arm protruding from the front of the working machine,
Claim 1, wherein the working machine is guided along the cable by measuring the amount of vertical and horizontal movement of the arm with a tracking sensor provided at the base of the arm. Methods for fitting, guiding and retrieving working machinery for underwater cables. 3. The fitting mechanism and the working machine are combined by an attachment/detachment mechanism constituted by a coupling member provided on the upper housing, and a transmitting device provided on the joint portion of the upper housing has a shoe at its tip. A cable tracking mechanism constituted by an arm-shaped tracking sensor or the like detects the output of the transmitting device and controls the running of the working machine to guide the working machine along the cable. A method for fitting, guiding and recovering a working machine for underwater cables according to claim 1. 4. Combining the fitting mechanism and the working machine as an attachment/detachment mechanism utilizes the attractive force of the electromagnet provided at the bottom of the working machine and the magnets provided in the upper and lower casings respectively, and after the work is completed, the above-mentioned 2. The method for fitting, guiding, and recovering a working machine for underwater cables according to claim 1, wherein the attachment/detachment mechanism is uncoupled by energizing an electromagnet.