CN112489876A - Anti-biting umbilical cable for underwater robot and control system thereof - Google Patents

Abstract

The invention belongs to the technical field of umbilical cables, and particularly discloses an anti-biting umbilical cable for an underwater robot and a control system thereof, wherein the scheme comprises a cable main body, a high-pressure water transmission channel, a second electric power core wire and an optical fiber, wherein the high-pressure water transmission channel, the second electric power core wire and the optical fiber are arranged in the cable main body; the cable main body is filled with a high-molecular foaming filling material; the anti-biting sleeve comprises a waterproof sleeve arranged on the outer ring of the cable main body, an outer layer sheath arranged on the outer ring of the waterproof sleeve and a plurality of shark repellent filling cavities arranged in the waterproof sleeve, wherein the waterproof sleeve is provided with an LED waterproof lamp strip, and the outer layer sheath is provided with a light hole; a first power core wire is arranged in the cable main body, and the control system controls the computer, the alarm and the tractor; this scheme can prevent that the shark from stinging, can not cause the injury to the shark, retrieves underwater robot back, can be based on the place that is bitten changes the corresponding bite-preventing cover and can come into operation again.

Description

Anti-biting umbilical cable for underwater robot and control system thereof

Technical Field

The invention belongs to the technical field of umbilical cables, and particularly relates to an anti-biting umbilical cable for an underwater robot and a control system thereof.

Background

The umbilical cable is a key group component for connecting an underwater vehicle, provides energy for the underwater vehicle and realizes real-time communication between the underwater vehicle and surface equipment, comprises a power supply cable and a communication optical fiber, particularly comprises the umbilical cable for the underwater robot, and also comprises a high-pressure water transmission channel, and when the underwater robot works, the umbilical cable needs to keep a zero-gravity floating state.

At present, current underwater umbilical cord cable adopts the physical mode to set up sharp thorn etc. and prevents that the shark from baiting in the cable outer lane usually, or directly adopt the metal material armor to prevent to be bitten by the shark, the former is great to the injury of shark, and sharp thorn etc. are liable to cause the cable quality heavier, can't guarantee that it can zero gravity float in aqueous, and the latter's effect is limited, it still can damage to meet the multitime baiting of shark, cause very easily that underwater robot can't normally retrieve or normal operating, consequently, it is necessary to design a not harm shark, and effective protection cable is not bitten by the shark and baits the umbilical cord cable of damage.

Disclosure of Invention

The present invention has been made keeping in mind the above problems occurring in the prior art, and an object of the present invention is to provide a bite-preventing umbilical cable for an underwater robot and a control system thereof.

In order to realize the purpose of the invention, the invention adopts the following technical scheme:

an anti-umbilical cord cable for an underwater robot comprises a cable main body, a high-pressure water transmission channel, a second electric power core wire and an optical fiber, wherein the high-pressure water transmission channel, the second electric power core wire and the optical fiber are arranged in the cable main body; the second power core wire and the optical fiber are arranged in a circumferential array by taking the high-pressure water transmission channel as a circle center, an insulating protective sleeve is arranged outside the second power core wire, and an optical fiber sheath is arranged outside the optical fiber; the cable main body is filled with a high-molecular foaming filling material wrapping the high-pressure water transmission channel, the second power core wire and the optical fiber; the anti-biting cable is characterized in that a detachable anti-biting sleeve is arranged on the outer ring of the cable main body, the anti-biting sleeve comprises a waterproof sleeve arranged on the outer ring of the cable main body, an outer layer sheath arranged on the outer ring of the waterproof sleeve and a plurality of shark repellent filling cavities arranged in the waterproof sleeve, an LED waterproof lamp strip is arranged on the waterproof sleeve, and a light hole for allowing light of the LED waterproof lamp strip to pass through is formed in the outer layer sheath; the cable body is internally provided with a first power core wire for supplying power to the LED waterproof lamp strip.

The working principle and the beneficial effects are as follows: the LED lamp strip emits orange red light or red light which makes the shark dislike, and the light or red light can continuously flash or continuously and constantly brighten, so that the shark sees the cable without interest, the effect of effectively preventing the shark from being bitten by the shark can be achieved, and the shark lamp strip is equivalent to a first line of defense line.

The bite guard acts as a secondary line of defense when the shark is still biting.

Outer sheath is bitten broken, causes the inside shark repellent of waterproof cover and fills the shark repellent of intracavity and reveal, because the shark is extremely sensitive to the smell, consequently the shark repellent can make the shark lose the interest of stinging the cable immediately to protected the cable to continue to be bitten bad, the shark repellent this moment is exactly the third line of defence, can not cause the injury to the shark yet, after retrieving underwater robot, can change the corresponding sting-proof cover according to the place of being bitten and can drop into the use again.

Because the high pressure water transmission channel is located at the most central position of the cable main body, and the cable main body is internally wrapped by the high molecular foaming material, the high molecular foaming material can ensure that the cable keeps a zero gravity state, which is equivalent to a fourth defense line, and can play a role in protecting each cable inside the cable main body, so that even though a shark bites the bite-preventing sleeve and the cable main body is damaged, the high pressure water transmission channel, the power core wire and the optical fiber can not be easily damaged as far as possible, and the underwater robot can normally run and recover.

As a fifth defense line, no matter the high-pressure water transmission channel, the second electric power core wire and the optical fiber are externally provided with protective sleeves, wherein the electric power core wire is externally provided with an insulating protective sleeve, so that an electric field can be well shielded, and the interest of sharks can be greatly reduced, because the sharks bite the cable only think that the electric field generated by the cable is similar to a prey; because first electric power heart yearn provides electric power for LED waterproof lamp area, is not important power line, consequently even if be damaged by the shark, also can not influence underwater robot's normal operating, and the electric current size that it provided is limited moreover, can not cause fatal injury to the shark.

Furthermore, be equipped with a plurality of transparent spherical protective housings on the LED waterproof lamp area, every transparent spherical protective housing and LED lamp pearl one-to-one. According to the arrangement, the transparent protective shell is arranged outside each LED lamp bead of the LED waterproof lamp, so that the LED waterproof lamp can be effectively protected and cannot be corroded by seawater or damaged by sand and stone striking.

Furthermore, elastic reset pieces are arranged between the high-pressure water transmission channel and the second electric power core wire and between the high-pressure water transmission channel and the optical fiber respectively, and the high-molecular foaming filling material is enclosed to form a channel for installing the elastic reset pieces. This setting, enclose into the flexible passageway of elasticity piece that resets through polymer foaming filler material, and polymer foaming filler material itself also has certain elasticity, cooperation elasticity piece that resets can keep the distance between water transmission channel and second electric power heart yearn and the optic fibre under high pressure better, compare the mode that directly adopts the hard stay, this kind of mode not only the flexible can also reset, and compressive capacity is better, can absorb pressure effectively when the shark is bitten, thereby guarantee the water transmission channel under high pressure of central point position better, and because the line footpath of second electric power heart yearn and optic fibre will obviously be less than water transmission channel under high pressure, also obviously be less than whole cable main part, therefore when the shark is bitten, cooperation deformable polymer foaming filler material and elasticity piece that resets, make the shark tooth can't directly bite second electric power heart yearn and optic fibre, unless two rows of teeth directly puncture cable main part and tear second electric power heart yearn or optic fibre about the shark, tear second electric power heart yearn or The second power core wire or the optical fiber cannot be directly cut off by biting.

Furthermore, a plurality of support columns are arranged outside the reinforcing steel wire sheath, at least two pressure sensors and one water sensor are installed on each support column, and the pressure sensors and the water sensor are located on the edge of the outer ring of the cable main body. Realize the detection to abnormal pressure through pressure sensor, pressure sensor here gives shipboard control end with signal transmission, can carry out the early warning to the crewman at once through the control end, the suggestion probably receives the shark to sting, detect whether leak through water sensor, when the shark is bitten and is led to the fact the cable damage, water sensor just can discern the hourglass water, cooperation pressure sensor just can confirm that the cable receives the damage this moment, need in time retrieve underwater robot, can guarantee underwater robot's safety.

Furthermore, the cable main body is at least provided with an outer protective sleeve which is woven by Kevlar ropes, and a waterproof layer is arranged between the outer protective sleeve and the cable main body. As a newly added protective measure, a layer of measure can be added in the anti-biting sleeve, the thickness of the measure can not be very thick, and the measure is determined according to the actual requirement, so that the shark-bite prevention effect is improved.

Further, prevent stinging the cover and be modular structure, through preventing stinging the cover that constitutes the completion along cable subject length direction concatenation in proper order, and adjacent two prevent stinging all fixed through the waterproofing agent between the cover. This sets up, complete structure compares, this mode is not only more easily production and assembly, also more convenient maintenance, the accessible later stage is disassembled the damage and is prevented stinging that the cover is changed and new prevent stinging the cover and can be makeed original umbilical cord cable and continue to use, greatly reduced the maintenance cost, and it prevents stinging the effect and compare complete structure and can not differ by how much, adopt this modular structure can more conveniently refill the shark agent, also can tear down the position that does not need to set up on the umbilical cord cable simultaneously and prevent stinging the cover, for example be close to the position on the ship or be close to underwater robot, these two positions all can be artificial for driving the shark or drive the shark through underwater robot, thereby reduce the cost.

Furthermore, every waterproof jacket of preventing stinging the cover all is equipped with the bar groove that supplies the installation of LED waterproof lamp area, through waterproofing adhesive or screw fixation between LED waterproof lamp area and the bar inslot wall, and every outer sheath of preventing stinging the cover all wraps up outside waterproof jacket through the mode of winding parcel to fix or the riveting is fixed through waterproofing adhesive. This setting, through installing a segment LED waterproof lamp in the bar inslot, then fix LED waterproof lamp and waterproof cover through waterproofing glue or screw, the mode of accessible wiring and two adjacent LED waterproof lamp circular telegrams are connected when the installation, certainly can also be the mode of contact circular telegrams, at last through wrapping up outer sheath outside waterproof cover, and make the light trap on the outer sheath can make the light of LED waterproof lamp expose, fix outer sheath through rivet or glue at last, the steam generator is simple in structure, high durability and convenient operation, easy maintenance and convenient dismounting.

Furthermore, be equipped with a plurality of contacts on the first electric power heart yearn, every contact corresponds with a section LED waterproof lamp area. This setting, when the cover installation is prevented stinging newly changed, only need to prevent stinging LED waterproof lamp area on the cover with LED waterproof lamp area and adjacent two sections and be a straight line to it, can conveniently be with the switch-on of contact of LED waterproof lamp area and here, thereby guarantee the circular telegram that LED waterproof lamp area can be normal, need not the wiring or to inserting, and convenient operation, certainly can also set up the structure of magnetism and inhale on the contact, more conveniently prevent stinging the installation of cover, the preferred parallelly connected mode that adopts in every section LED waterproof lamp area, one of them damages like this and just can not cause other unable uses.

Furthermore, the first power core wire and the second power core wire are wrapped by electromagnetic shielding layers. The arrangement further enhances the electromagnetic shielding effect of the cable main body, so that the probability of being mistaken as a prey by sharks is smaller, and the sharks can be prevented from biting.

The invention further protects a control system of the anti-biting umbilical cable, the anti-biting umbilical cable for the underwater robot is applied, the control system further comprises a control computer, an alarm connected with the control computer in a communication manner and a tractor used for dragging and lifting the cable, and the tractor and the umbilical cable are both connected with the control computer in a communication manner. The running state of the umbilical cable and the underwater robot is monitored in real time through the control computer, when a first electric power core wire on the umbilical cable is short-circuited or broken, the alarm can be directly controlled through the control computer to give an early warning to crews, abnormal conditions possibly existing are prompted, the underwater robot can be recovered through the tractor or the diver is sent to observe, and the LED waterproof lamp belt is not bright and the abnormality exists at the place.

Drawings

The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:

FIG. 1 is a schematic structural view of a cable body of the present invention;

FIG. 2 is a schematic structural view of the bite-preventing cover of the present invention;

FIG. 3 is an enlarged view of A in FIG. 2;

FIG. 4 is a modular schematic view of the bite-block prevention sleeve of the present invention;

fig. 5 is a schematic diagram of the control system of the present invention.

In the figure, a1, cable body; a2, preventing bite; 1. a high-pressure water transmission channel; 2. a first power core; 3. an LED waterproof lamp strip; 4. a transparent spherical protective shell; 5. a pressure sensor; 6. a second power core; 7. an optical fiber; 8. a support pillar; 9. a spring; 10. a polymer foam filling material; 11. the pressure-resistant outer wall of the water pipe; 12. reinforcing the steel wire sheath; 13. an insulating protective sleeve; 14. a waterproof jacket; 15. an outer sheath; 16. a water immersion sensor; 17. a disolving agent filling chamber; 18. an optical fiber jacket; 19. a contact; 20. a strip-shaped groove; 21. a control computer; 22. an alarm; 23. a tractor; 24. an underwater robot.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments that can be derived by one of ordinary skill in the art from the embodiments given herein are intended to be within the scope of the present invention.

It will be understood by those skilled in the art that in the present disclosure, the terms "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in an orientation or positional relationship indicated in the drawings for ease of description and simplicity of description, and do not indicate or imply that the referenced devices or components must be constructed and operated in a particular orientation and thus are not to be considered limiting.

As shown in fig. 1-4, the umbilical cord biting prevention cable for the underwater robot of the present invention comprises a cable body a1, and a high pressure water transmission channel 1, a second power core wire 6 and an optical fiber 7 which are arranged in the cable body a1, wherein the high pressure water transmission channel 1 is located at the center of the cable body a1, and the high pressure water transmission channel 1 passes through a water pipe pressure-resistant outer wall 11 and a reinforced steel wire sheath 12, wherein the water pipe pressure-resistant outer wall 11 and the reinforced steel wire sheath 12 are both commonly used materials in the prior art, and can provide a good protection environment for the high pressure water transmission channel 1, and the cable is used as a last line of defense when applied to the present solution.

Specifically, the second electric power core wire 6 and the optical fiber 7 are arranged in a circumferential array with the high-pressure water transmission channel 1 as a circle center, an insulating protective sleeve 13 is arranged outside the second electric power core wire 6, and an optical fiber sheath 18 is arranged outside the optical fiber 7, wherein the insulating protective sleeve 13 and the optical fiber sheath 18 are made of the same material as the prior art, and mainly used for protecting the second electric power core wire 6 and the optical fiber 7 from being damaged.

Specifically, the cable main body A1 is filled with the polymer foam filling material 10 wrapping the high-pressure water transmission channel 1, the second electric power core wire 6 and the optical fiber 7, wherein the polymer foam filling material 10 is used as a main filling material, so that the integral specific gravity of the umbilical cable can approach to the specific gravity of water by 0.98-1.0, and the cable is in a suspension state when placed in water, thereby greatly reducing the resistance of the umbilical cable to water when being dragged in water, and effectively protecting the core wire inside the cable from being bitten by sharks.

Specifically, the cable main part A1 outer lane is equipped with detachable and prevents stinging cover A2, prevent stinging cover A2 including locate the waterproof cover 14 of cable main part A1 outer lane, locate the outer sheath 15 of waterproof cover 14 outer lane and locate a plurality of shark-driving agent filling cavities 17 in the waterproof cover 14, be equipped with LED waterproof lamp area 3 on the waterproof cover 14, just be equipped with the light trap that supplies LED waterproof lamp area 3 light to pass on the outer sheath 15, specifically, prevent stinging cover A2 is modular structure, constitutes the cover A2 of preventing stinging of accomplishing through splicing in proper order along cable main part A1 length direction, and all fix through the water proof adhesive between two adjacent prevent stinging cover A2. This setting, compare complete structure, this mode is not only more easily production and assembly, also more convenient maintenance, the accessible later stage is disassembled that the damage prevents stinging cover A2 and more is renewed prevents stinging cover A2 and can make original umbilical cable continue to use, greatly reduced the maintenance cost, and it prevents stinging the effect and compares complete structure and can not differ by how much, adopt this modular structure can more conveniently refill the shark agent, also can detach the position that need not to set up on the umbilical cable and prevent stinging cover A2 simultaneously, for example be close to the position on the ship or be close to underwater robot, these two positions all can be artificial for driving the shark or drive the shark through underwater robot, thereby reduce the cost.

Specifically, the waterproof jacket 14 of each anti-biting sleeve a2 is provided with a strip-shaped groove 20 for mounting the LED waterproof lamp strip 3, the LED waterproof lamp strip 3 and the inner wall of the strip-shaped groove 20 are fixed by waterproof adhesive or screws, and the outer sheath 15 of each anti-biting sleeve a2 is wrapped outside the waterproof jacket 14 in a winding wrapping manner and is fixed by the waterproof adhesive or riveted. This setting, through installing a segment LED waterproof lamp in the bar inslot, then fix LED waterproof lamp and waterproof cover 14 through waterproofing glue or screw, the mode of accessible wiring and two adjacent sections LED waterproof lamp circular telegrams are connected when the installation, certainly can also be the mode of contact circular telegrams, at last through wrapping up outer sheath 15 outside waterproof cover 14, and make the light trap on the outer sheath 15 can make the light of LED waterproof lamp expose, fix outer sheath 15 through rivet or glue at last, the steam generator is simple in structure, high durability and convenient operation, easy maintenance and convenient dismounting.

Preferably, the outer sheath 15 is made of common polyurethane material, and has good mechanical strength and oxidation stability, high flexibility and resilience, and excellent oil resistance, solvent resistance, water resistance and fire resistance, so that the wires of the umbilical cable are effectively protected, and the stability and accuracy of underwater signal transmission and feedback signals are guaranteed.

Specifically, a plurality of contacts 19 are arranged on the first power core wire 2, and each contact 19 corresponds to one section of the waterproof LED strip 3. This setting, when the cover A2 is prevented stinging newly changed in the installation, only need to prevent stinging LED waterproof lamp area 3 and adjacent two sections LED waterproof lamp area 3 on the cover A2 is a straight line to it, can conveniently be with LED waterproof lamp area 3 and the contact 19 contact circular telegram of here, thereby guarantee the circular telegram that LED waterproof lamp area 3 can be normal, need not the wiring or to inserting, convenient operation, certainly can also be the structure that sets up magnetism on contact 19, more conveniently prevent stinging cover A2's installation, every section LED waterproof lamp area 3 preferably adopts parallelly connected mode, one of them damages just can not cause other unable uses like this.

Preferably, every section LED waterproof lamp area 3 all adopts RGB lamp area, can show different colours according to the different situations, conveniently drives the shark, perhaps prompts workman personnel to operate, also makes things convenient for the night operation more.

Specifically, a first power core wire 2 for supplying power to the LED waterproof lamp strip 3 is arranged in the cable main body a 1.

Specifically, be equipped with a plurality of transparent spherical protective housings 4 on LED waterproof lamp area 3, every transparent spherical protective housing 4 and LED lamp pearl one-to-one. This setting all installs transparent spherical protective housing 4 outside every LED lamp pearl of LED waterproof lamp, can protect the LED waterproof lamp effectively, makes it can not be corroded by the sea water or hit by the grit and hit the damage.

Since the umbilical cable is mainly used in shallow seawater, it is also possible to use common PVC or the like for the transparent spherical protective shell 4 without damage due to excessive water pressure.

Specifically, elastic reset pieces are arranged between the high-pressure water transmission channel and the second electric power core wire 6 and the optical fiber 7 respectively, and the high polymer foam filling material 10 surrounds a channel for installing the elastic reset pieces. This setting, enclose into the flexible passageway of elasticity piece that resets through polymer foam filling material 10, and polymer foam filling material 10 itself also has certain elasticity, the cooperation elasticity piece that resets can keep the distance between water transmission channel and second electric power heart yearn 6 and optic fibre 7 better, compare the mode that directly adopts the hard stay, this kind of mode not only the flexible can also reset, and compressive capacity is better, can absorb pressure effectively when the shark is bitten, thereby guarantee the water transmission channel 1 of high pressure of central point position better, and because the line footpath of second electric power heart yearn 6 and optic fibre 7 will obviously be less than water transmission channel 1, also obviously be less than whole cable main part A1, therefore when the shark is bitten, cooperation deformable polymer foam filling material 10 and elasticity piece that resets, make the shark tooth can's direct bite second electric power heart yearn 6 and optic fibre 7, unless the shark's upper and lower rows of teeth directly break through the cable body a1 and bite on the second power core 6 or the optical fiber 7, the second power core 6 or the optical fiber 7 cannot be directly bitten off.

Wherein the elastic reset piece is the nonmetal spring 9 available on the market, preferably adopts the material with the density less than the sea water, such as the plastic spring 9, because the length of the cable main body A1 is very long, the number of the springs 9 inside can be very much, so the structure can ensure that the cable can be in the suspension state in the sea water to a certain extent, if the carbon steel spring 9 is adopted, the cable can not keep the suspension state, and more polymer foaming filling materials 10 are needed, the volume of the cable main body A1 can be greatly increased, and the loss can be avoided.

Specifically, a plurality of supporting columns 8 are arranged outside the reinforced steel wire sheath 12, at least two pressure sensors 5 and one water sensor 16 are arranged on the supporting columns 8, and the pressure sensors 5 and the water sensor 16 are both located on the edge of the outer ring of the cable body A1. Realize the detection to abnormal pressure through pressure sensor 5, pressure sensor 5 here gives the control end on-board with signal transmission, can carry out the early warning to the crewman at once through the control end, the suggestion probably receives the shark to sting, detect whether leak through water sensor 16, when the shark is torn to sting and is caused the cable damage, water sensor 16 just can discern hourglass water, cooperation pressure sensor 5 just can confirm that the cable receives the damage this moment, need in time retrieve underwater robot, can guarantee underwater robot's safety.

Specifically, at least one layer of outer protective sleeve woven by Kevlar ropes is arranged outside the cable main body A1, and a water-blocking layer is arranged between the outer protective sleeve and the cable main body A1. As a newly added protective measure, a layer of measure can be added in the anti-biting sleeve A2, the thickness of the measure can be not very thick, and the measure is determined according to actual requirements, so that the effect of preventing shark biting is improved, wherein the waterproof layer is the prior art, and the materials of the waterproof layer are not repeated.

Specifically, the first power core wire 2 and the second power core wire 6 are wrapped with electromagnetic shielding layers. This setting has further strengthened the electromagnetic shield effect of cable main part A1 for it is littleer to be thought the probability of prey by the shark, just also can prevent the bite of shark, and wherein the electromagnetic shield adopts copper strips laser welding to become the tubulose, no longer gives unnecessary details to its structure and material here.

As shown in fig. 5, the anti-biting umbilical cable control system for the underwater robot uses the above mentioned anti-biting umbilical cable, and further comprises a control computer 21, an alarm 22 in communication connection with the control computer 21, and a tractor 23 for dragging and lifting the cable, wherein both the tractor 23 and the umbilical cable are in communication connection with the control computer 21. The operation conditions of the umbilical cable and the underwater robot 24 are monitored in real time through the control computer 21, when the first power core wire 2 on the umbilical cable is short-circuited or broken, the alarm 22 can be directly controlled through the control computer 21 to give an early warning to a crew, possible abnormal conditions are prompted, the underwater robot 24 can be recovered through the tractor 23 or a diver is sent to observe, the LED waterproof lamp strip 3 is not bright to indicate that the abnormality exists, and the system can be used for effectively preventing sharks from biting the umbilical cable or effectively protecting the normal operation of the underwater robot.

The present invention is not described in detail in the prior art, and therefore, the present invention is not described in detail.

It is understood that the terms "a" and "an" should be interpreted as meaning that a number of one element or element is one in one embodiment, while a number of other elements is one in another embodiment, and the terms "a" and "an" should not be interpreted as limiting the number.

Although terms are used more often herein, the possibility of using other terms is not excluded. These terms are used merely to more conveniently describe and explain the nature of the present invention; they are to be construed as being without limitation to any additional limitations that may be imposed by the spirit of the present invention.

The present invention is not limited to the above-mentioned preferred embodiments, and any other products in various forms can be obtained by anyone in the light of the present invention, but any changes in the shape or structure thereof, which have the same or similar technical solutions as those of the present application, fall within the protection scope of the present invention.

Claims (10)

1. A bite-preventing umbilical cable for an underwater robot comprises a cable main body, and a high-pressure water transmission channel, a second electric power core wire and an optical fiber which are arranged in the cable main body, and is characterized in that the high-pressure water transmission channel is positioned at the center of the cable main body; the second power core wire and the optical fiber are arranged in a circumferential array by taking the high-pressure water transmission channel as a circle center, an insulating protective sleeve is arranged outside the second power core wire, and an optical fiber sheath is arranged outside the optical fiber; the cable main body is filled with a high-molecular foaming filling material wrapping the high-pressure water transmission channel, the second power core wire and the optical fiber; the anti-biting cable is characterized in that a detachable anti-biting sleeve is arranged on the outer ring of the cable main body, the anti-biting sleeve comprises a waterproof sleeve arranged on the outer ring of the cable main body, an outer layer sheath arranged on the outer ring of the waterproof sleeve and a plurality of shark repellent filling cavities arranged in the waterproof sleeve, an LED waterproof lamp strip is arranged on the waterproof sleeve, and a light hole for allowing light of the LED waterproof lamp strip to pass through is formed in the outer layer sheath; the cable body is internally provided with a first power core wire for supplying power to the LED waterproof lamp strip.

2. The anti-biting umbilical cable for the underwater robot as claimed in claim 1, wherein the LED waterproof lamp strip is provided with a plurality of transparent spherical protective shells, and each transparent spherical protective shell corresponds to the LED lamp beads one to one.

3. The umbilical cable of claim 1, wherein an elastic restoring member is disposed between the high pressure water transmission channel and the second power core and the optical fiber, and the high molecular foaming filler material encloses a channel for installing the elastic restoring member.

4. The umbilical cable of claim 1, wherein the reinforced steel wire sheath is provided with a plurality of support columns, at least two pressure sensors and one water sensor are mounted on the support columns, and the pressure sensors and the water sensor are both located on the outer ring edge of the cable body.

5. The anti-biting umbilical cable for the underwater robot as claimed in claim 1, wherein the cable body is externally provided with at least one outer protective sheath woven by Kevlar cords, and a water blocking layer is further arranged between the outer protective sheath and the cable body.

6. The umbilical cable of claim 1, wherein the anti-bite sleeves are modular in structure, the anti-bite sleeves are formed by sequentially splicing along the length direction of the cable body, and the adjacent anti-bite sleeves are fixed by waterproof glue.

7. The umbilical cable for the underwater robot as claimed in claim 6, wherein the waterproof jacket of each anti-bite sleeve is provided with a strip-shaped groove for mounting the LED waterproof lamp strip, the LED waterproof lamp strip and the inner wall of the strip-shaped groove are fixed by waterproof glue or screws, and the outer sheath of each anti-bite sleeve is wrapped outside the waterproof jacket by winding and is fixed by waterproof glue or riveted.

8. The anti-bite umbilical cable for the underwater robot as claimed in claim 7, wherein the first power core is provided with a plurality of contacts, each contact corresponding to a segment of the LED waterproof light strip.

9. The umbilical cable of claim 1, wherein the first and second power cords are further coated with an electromagnetic shielding layer.

10. A control system of an anti-biting umbilical cable is characterized in that the anti-biting umbilical cable for the underwater robot as claimed in any one of claims 1 to 9 is used, and further comprises a control computer, an alarm connected with the control computer in a communication mode and a tractor used for dragging and lifting the cable, wherein the tractor and the umbilical cable are both connected with the control computer in a communication mode.

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