Submarine cable and submarine cable protection device integrated operation equipment and operation method

Abstract

The invention discloses integrated operation equipment and an operation method of a submarine cable and a protection device thereof, and relates to the technical field of ocean engineering. According to the equipment, a crawler serves as a basic platform, an anti-scouring system, a protection device installation system and an identification and control system are integrated, and submarine cable anti-scouring grouting and automatic installation and maintenance of protection components are completed in cooperation with a workboat. The anti-scouring system achieves in-situ grouting reinforcement through an environment-friendly slurry formula, the protection device installation system can efficiently replace components such as a bending limiter, and the recognition and control system ensures accurate positioning and intelligent operation. The problems that traditional operation depends on divers, efficiency is low and safety risks are high are solved, the method has the advantages of being high in adaptability, intelligent and environmentally friendly, reliability and operation and maintenance efficiency of submarine cable engineering are remarkably improved, and the method has wide application prospects.

Description

Technical Field

[0001] The present invention relates to the technical field of marine engineering equipment, and in particular to integrated operating equipment and method for a submarine cable and a protective device thereof. Background Art

[0002] The increasing scale and complexity of submarine projects are placing higher demands on the construction and maintenance of submarine cables and their protective devices. However, current submarine operations primarily rely on surface vessels, remotely operated underwater vehicles (ROVs), autonomous underwater vehicles (AUVs), and divers. While these methods meet basic requirements to a certain extent, they still have significant shortcomings. For example, they suffer from low efficiency, long construction cycles, limited adaptability to complex or hazardous scenarios, and high safety risks for divers. In the field of submarine cable protection, statistics show that over 80% of cable damage is caused by mechanical forces, with wave and current erosion being a major factor in exposing, dangling, and even breaking cables. While some projects have implemented submarine cable protective devices, existing technologies lack reliable and efficient solutions when these devices break or fail. Furthermore, traditional erosion prevention methods, such as riprap, suffer from short protection cycles, high failure risks, and poor precision, making them inadequate for the long-term stability and precision required of modern submarine projects. Chinese patent document CN 119787237 A discloses a device for laying submarine cables, which realizes the burial and stabilization of submarine cables through a base, a fixed structure and a baffle, and can adapt to the scouring and deformation of the seabed. Patent CN 221841205 U discloses a submarine cable detection equipment, which uses high-pressure water pipes, nozzles and sonar probes to achieve positioning and detection of submarine cables with greater burial depths. However, the functions of the above-mentioned technical solutions are limited to passively adapting to seabed changes or providing positioning information, lacking active construction, protection and maintenance capabilities, and unable to achieve integrated, in-situ, multifunctional integrated operations in complex seabed environments. Therefore, there is an urgent need for an integrated operating equipment and method that can efficiently complete the anti-scouring reinforcement of submarine cables and the installation and maintenance of protective devices, so as to break through the existing technical bottlenecks and improve the safety, efficiency and economy of submarine projects. Summary of the Invention

[0003] This invention addresses the low efficiency, poor safety, and inadequate adaptability to complex working conditions of existing submarine cable construction and maintenance technologies by proposing an integrated submarine cable and protective device operation system and method. By integrating a tracked mobile platform, an anti-scour system, a protective device installation system, and an identification and control system, this technical solution enables in-situ anti-scour reinforcement of submarine cables and automated installation and maintenance of protective devices.

[0004] Specifically, the present invention proposes an integrated operating equipment for a submarine cable and its protective device, including a tracked vehicle, an anti-scour system, a protective device installation system, and an identification and control system; wherein: The crawler vehicle serves as a basic mobile platform and integrates the anti-scour system, protective device installation system, and identification and control system. The anti-scour system includes a slurry storage tank, a mud pump, and an adjustable slurry pipe. One end of the slurry storage tank is connected to the mud pump via a connecting pipe, and the other end of the slurry storage tank is connected to the adjustable slurry pipe. Slurry enters the slurry storage tank through the mud pump and is used to perform in-situ grouting on exposed or suspended submarine cables on the seabed through the adjustable slurry pipe. The protective device installation system includes a robot, which is used to complete the underwater replacement and installation of the protective device of the submarine cable by driving the robot; The identification and control system is responsible for the power supply, operation instruction transmission and feedback control tasks of the tracked vehicle, the anti-scouring system and the protective device installation system.

[0005] Furthermore, the crawler vehicle is provided with two crawlers, each crawler is provided with a plurality of grousers, the grousers are fixed to the crawler by bolt connection, the bolts are used to adjust the grouser spacing and height, and a buoyancy adjustment device is provided at the bottom of the crawler vehicle.

[0006] Furthermore, a stirring blade is provided inside the slurry storage tank, a solenoid valve and a flow meter are provided on the connecting pipe, the mud pump is connected to the slurry storage tank through the solenoid valve and the flow meter, and the outlet height of the adjustable slurry pipe is adjusted by a hydraulic drive mechanism.

[0007] Furthermore, an operating vessel is provided on the sea surface. The operating vessel is provided with a mud configuration pool. A delivery riser is provided at the bottom of the mud configuration pool. The delivery riser injects mud into the mud storage tank according to operating requirements. Furthermore, an agitator and a vibration system are provided in the mud preparation pool. The agitator adopts a double-axis design, and the vibration system accelerates the discharge of bubbles in the mud through high-frequency vibration.

[0008] Furthermore, the protective device of the submarine cable includes a bend limiter and a sleeve, and the protective device installation system also includes an oil cylinder, a telescopic rod, a storage bin and a conveying platform. The oil cylinder realizes length adjustment by hydraulically driving the telescopic rod, and the end of the telescopic rod is connected to the machine through a universal joint. The storage bin is used to store the bend limiter and the sleeve to be installed; the conveying platform transports the bend limiter and the sleeve from the storage bin to the working position of the machine.

[0009] Furthermore, the robot is configured as a symmetrical dual-arm structure, with each arm comprising a gripper, a bolt tightener and a cutter. The gripper adopts a multi-degree-of-freedom design, and the bolt tightener is equipped with a torque sensor. Furthermore, the identification and control system is connected to the work vessel via a signal cable, and the signal cable and the transmission riser share a common armored covering structure.

[0010] Compared with the prior art, the present invention has the following beneficial effects: (1) Through the integrated system setting, the technical bottleneck of the traditional operation method that relies on divers, has low operation efficiency and high safety risks has been solved. Through the protective device installation system, the disassembly and assembly of components such as bend limiters can be completed efficiently under complex seabed working conditions, and the adaptability and accuracy are greatly improved.

[0011] (2) The grouting system significantly improves the anti-scouring ability by in-situ reinforcement of exposed or suspended submarine cable sections. The whole system has strong operational continuity and high degree of intelligence. The system integrates a grouting module, which can accurately control the slurry solidification time. Even when the crawler vehicle is moving underwater, stable grouting can be achieved. In addition, the in-situ grouting method makes it less likely for the grouting to flow.

[0012] (3) Through the coordinated work of the work boat, it can support the synchronous filling and extrusion operations during grouting, taking into account both large-scale construction and refined operations under complex terrain. The entire system has the ability to operate continuously. Through the adjustable tracks and buoyancy settings of the crawler vehicle, as well as the setting of the adjustable slurry pipe, it can adapt to complex terrain and deep-water environments, significantly improving the adaptability and reliability of in-situ grouting. Therefore, it has good environmental adaptability and construction economy, high operation accuracy and efficiency, and has good engineering application prospects. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 A schematic diagram of an operating device according to a specific embodiment of the present invention during operation; Figure 2 It is a structural schematic diagram of the crawler vehicle and the anti-scour system of the present invention; Figure 3 This is a schematic structural diagram of the crawler vehicle integrated anti-scour system and protective device installation system of the present invention; Figure 4 A top view of the scour protection range of the anti-scour system of the present invention after grouting of the submarine cable; Figure 5 A side view of the scour protection range of the anti-scour system of the present invention after grouting of the submarine cable; Figure 6 This is a schematic structural diagram of the offshore operation vessel and underwater equipment in the integrated operation equipment of the present invention; Figure 7 Schematic diagram of the structure of the bend limiter in the protective device of the submarine cable in the present invention; Figure 8 Schematic diagram of the structure of the sleeve in the protective device of the submarine cable in the present invention; Figure 9Schematic diagram of the structure of the machine in the present invention; Figure 10 This is a flow chart of the operating method of the operating equipment proposed in the present invention.

[0014] In the figure: 1. Crawler; 2. J-tube; 3. Submarine cable; 4. Protective device; 41. Bend limiter; 42. Sleeve; 5. Anti-scour system; 51. Mud; 52. Mud pump; 53. Slurry storage tank; 54. Solenoid valve; 55. Flow meter; 56. Connecting pipe; 57. Adjustable slurry pipe; 6. Protective device installation system; 61. Mechanical device; 611. Bolt tightener; 612. Grabber; 613. Cutter; 62. Telescopic rod; 63. Cylinder; 64. Storage bin; 65. Transfer platform; 66. Universal joint; 7. Identification and control system; 8. Workboat; 81. Mud preparation tank; 82. Agitator; 83. Vibration system; 84. Delivery riser; 85. Signal cable; 86. Armor; 9. Seabed. DETAILED DESCRIPTION

[0015] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0016] Combine Figures 1 to 10 As shown, the present invention provides an integrated operating equipment for a submarine cable and its protective device, comprising a tracked vehicle 1, an anti-scouring system 5, a protective device installation system 6, and an identification and control system 7; wherein: The crawler vehicle 1 serves as a basic mobile platform and integrates an anti-scour system 5, a protective device installation system 6, and an identification and control system 7; The anti-scour system 5 includes a slurry storage tank 53, a slurry pump 52, and an adjustable slurry pipe 57. One end of the slurry storage tank 53 is connected to the slurry pump 52 via a connecting pipe 56, and the other end of the slurry storage tank 53 is connected to the adjustable slurry pipe 57. Slurry enters the slurry storage tank 53 through the slurry pump 52 and is used to perform in-situ grouting on exposed or suspended submarine cables in the seabed 9 through the adjustable slurry pipe 57. The protective device installation system 6 includes a robot 61, which is used to complete the underwater replacement and installation of the protective device of the submarine cable by driving the robot 61; The identification and control system 7 is responsible for the power supply, operation instruction transmission and feedback control of the crawler vehicle 1, the anti-scouring system 5 and the protective device installation system 6.

[0017] like Figure 1 、 Figure 3 、 Figure 5As shown, by using a crawler vehicle 1 as a basic mobile platform and integrating an anti-scour system 5, a protective device installation system 6 and an identification and control system 7, the in-situ anti-scour reinforcement of the submarine cable 3 and the automated installation and maintenance of the protective device 4 of the submarine cable 3 set at the submarine pipe mouth of the J-tube 2 are realized.

[0018] The present invention solves the technical bottleneck of traditional operation methods that rely on divers, have low operation efficiency and high safety risks through an integrated all-in-one system setting. The grouting system significantly improves the anti-scouring ability by reinforcing the exposed or suspended submarine cable sections in situ. The protective device installation system can efficiently complete the disassembly and assembly of components such as bend limiters under complex seabed working conditions, and the adaptability and precision are greatly improved. The whole system has strong operational continuity and high intelligence. Through the system-integrated grouting module, the slurry solidification time can be accurately controlled, and stable grouting can be achieved even when the crawler is moving underwater. The in-situ grouting method makes the grouting less likely to flow, and supports synchronous filling and extrusion operations, taking into account large-scale construction and refined operations under complex terrain, significantly improving the adaptability and reliability of in-situ grouting, and thus has good environmental adaptability and construction economy.

[0019] The crawler 1 is the core mobile platform of the entire operation equipment, and its structural design fully considers the adaptability requirements of the complex seabed environment. Figure 3 As shown, the tracked vehicle 1 is provided with two tracks, and each track is provided with a number of grousers. The grouser spacing and height can be adjusted by bolt connection to cope with the terrain conditions of soft or irregular seabed 9. The grouser surface is made of wear-resistant material to ensure good grip performance during long-term operation. In addition, a buoyancy adjustment device is provided at the bottom of the tracked vehicle 1, which controls the overall buoyancy by filling and discharging water, so that the equipment can maintain a stable posture under different water depth conditions. For example, in shallow water areas, the buoyancy adjustment device reduces the displacement to increase the weight of the equipment, thereby improving stability; while in deep water areas, the weight of the equipment is reduced by increasing the displacement to reduce underwater resistance. The design of the tracked vehicle 1 incorporates a modular concept, which facilitates the replacement and maintenance of parts, further improving the reliability of the equipment.

[0020] The anti-scour system 5 is an important part of the present invention, which is used to perform in-situ grouting treatment on exposed or suspended submarine cables in the seabed 9 by injecting mud 51. Figure 4 、 Figure 5 Specifically, Figure 2 、 Figure 3As shown, the anti-scour system 5 includes a slurry storage tank 53, a mud pump 52 and an adjustable slurry pipe 57. One end of the slurry storage tank 53 is connected to the mud pump 52 through a connecting pipe 56, and the other end of the slurry storage tank 53 is connected to the adjustable slurry pipe 57. The slurry enters the slurry storage tank 53 through the mud pump 52, and is used to perform in-situ grouting treatment on the exposed or suspended submarine cables in the seabed 9 through the adjustable slurry pipe 57.

[0021] The slurry storage tank 53 is designed to have a moderate capacity and is kept empty before the equipment is put into the sea to avoid sedimentation or pumping difficulties caused by the slurry standing still. The slurry storage tank 53 is equipped with a stirring blade inside, which prevents the mud from stratifying by rotating at a low speed, ensuring the uniformity of the mud. The mud pump 52 is connected to the slurry storage tank 53 through the solenoid valve 54 and the flow meter 55. The mud pump 52 is responsible for pumping out the mud and transporting it to the adjustable slurry pipe 57 through the connecting pipe 56. The flow meter 55 monitors the grouting flow in real time to ensure the stability and controllability of the construction parameters. The adjustable slurry pipe 57 is arranged on the outside of the equipment, and its outlet height can be adjusted by a hydraulic drive mechanism to adapt to construction environments of different depths and slopes. For example, in steep slope terrain, the hydraulic drive mechanism adjusts the outlet height of the adjustable slurry pipe 57 to a lower position to ensure that the mud can be accurately injected into the target area.

[0022] The mud 51 adopts an environmentally friendly formula, which is made of cement and water glass in a ratio of 7:3 to form a double liquid slurry, and about 0.3% of additives are added to the double slurry. This formula can not only enhance the structural strength between the soil particles around the mud section of the submarine cable, but also has low permeability, avoiding pollution to the surrounding marine environment. The grouting range is formulated according to the characteristics of the seabed 9 and the seabed working conditions. The grouting depth is set to not less than 2 times the scouring depth, and the grouting width and length are set to not less than 1.2 times the scouring width to ensure sufficient reinforcement coverage. During the grouting process, the grouting pressure is detected by a pressure sensor. When the pressure exceeds the preset threshold, the grouting is automatically stopped to prevent excessive grouting from causing damage to the seabed 9 structure. For example, in Figure 4 and Figure 5 In the process, the grouting range covers the soil around the submarine cable 3, forming a stable reinforcement area and significantly improving the anti-scouring ability.

[0023] Further, such as Figure 6 As shown, a work vessel 8 is also deployed on the sea surface. Work vessel 8 is equipped with a mud preparation pool 81. A delivery riser 84 is located at the bottom of mud preparation pool 81. Delivery riser 84 injects mud into the slurry storage tank 53 according to operational needs. Mud preparation pool 81 is equipped with an agitator 82 and a vibration system 83. These two systems prepare the mud. Agitator 82 utilizes a dual-shaft design to ensure uniform mud mixing. Vibration system 83 accelerates the discharge of bubbles in the mud through high-frequency vibration, thereby improving mud quality.

[0024] Based on the preliminary scanning results near each submarine cable 3, an anti-scour grouting plan is developed, determining the total amount of slurry required for each operation, the amount of slurry to be injected into the slurry tank 53, the number of slurry transfers, and the operation time. The preliminary scanning results indicate a high scour risk area around the submarine cable 3. Based on this, the identification and control system 7 generates a grouting plan and injects appropriate amounts of slurry into the slurry tank 53 in batches through the delivery riser 84, ensuring the continuity and efficiency of the grouting operation.

[0025] like Figure 7 and Figure 8 As shown, the protective device of the submarine cable includes a bend limiter 41 and a sleeve 42. The bend limiter 41 and the sleeve 42 are designed as a Hough-type symmetrical structure, which facilitates double-sided clamping and bolt fixing on the submarine cable 3, thereby improving the uniformity of structural force and service reliability.

[0026] like Figure 3 、 Figure 9 As shown, the protective device installation system 6 is integrated into the crawler 1 and is used to complete the underwater replacement and installation of the bend limiter 41 and sleeve 42. The protective device installation system 6 also includes a cylinder 63, a telescopic rod 62, a storage bin 64, and a transfer platform 65. The cylinder 63 hydraulically drives the telescopic rod 62 to adjust its length. The end of the telescopic rod 62 is connected to the robot 61 via a universal joint 66, allowing flexible adjustment of direction and length to accommodate sophisticated installation operations in complex locations. The storage bin 64 is used to store the bend limiter 41 and sleeve 42 to be installed. The storage bin 64 is equipped with partitions to facilitate the classified storage of protective components of different specifications. The transfer platform 65 transports the bend limiter 41 and sleeve 42 from the storage bin 64 to the operating position of the robot 61, realizing the automated assembly operation flow.

[0027] Robot 61 is a symmetrical dual-arm structure, with each arm comprising a gripper 612, a bolt tightener 611, and a cutter 613. The gripper 612 utilizes a multi-degree-of-freedom design, enabling precise grasping of protective components and assembly and positioning. The bolt tightener 611 is equipped with a torque sensor to ensure that the bolt tightening torque meets design requirements. The cutter 613, used to break away old components, features a carbide blade for high wear resistance and cutting efficiency.

[0028] like Figure 3As shown, the identification and control system 7 is connected to the work vessel 8 via a signal cable 85. It provides power to the tracked vehicle 1, the anti-scour system 5, and the protective device installation system 6, transmits operational instructions, and provides feedback control. The signal cable 85 and the transport riser 84 share a common armored sheath 86, enhancing scour resistance and mechanical stability. Based on sonar detection technology and image recognition algorithms, the identification and control system 7 can accurately locate the position of exposed or suspended target submarine cables 3 and their protective devices 4, and generate a three-dimensional model to assist in operational planning. Under the command of the identification and control system 7, the entire system sequentially completes the operational processes of target identification, component capture, removal of old components, installation of new components, and grouting, achieving truly automated and intelligent integrated submarine operations. In actual operation, the identification and control system 7 first uses sonar detection technology to obtain the precise location of the submarine cable 3, then generates a three-dimensional model and plans the operational path. Subsequently, the robot 61, following the instructions, sequentially removes the old bend limiter 41 and installs the new one. Finally, the anti-scour system 5 performs grouting to reinforce the submarine cable 3.

[0029] Based on the above-mentioned integrated operating equipment for submarine cables and their protective devices, the present invention further proposes an operating method for the integrated operating equipment for submarine cables and their protective devices. The specific steps are as follows: S1: The protective device installation system 6 is started, and the robot 61 is used to automatically disassemble and assemble the protective device of the submarine cable consisting of the bend limiter and the sleeve 42, so as to achieve efficient, accurate and safe underwater operations without the need for diver intervention.

[0030] S2: After the protective device is installed, the work vessel 8 prepares the mud 51 for grouting in real time, and then transports it to the slurry storage tank 53 in the anti-scour system 5 on the crawler vehicle 1 located on the seabed through the delivery riser 84, ensuring a continuous and stable supply of mud.

[0031] S3: Under the instruction of the identification and control system 7, the exposed or suspended submarine cable 3 is accurately located, and the crawler vehicle 1 drives the mud pump 52 in the anti-scour system 5 and performs in-situ grouting on the exposed or suspended submarine cable 3 in the seabed 9 through the adjustable slurry pipe 57.

[0032] This grouting process achieves stable formation of slurry on the seabed by controlling the slurry solidification time and adjusting the height of the slurry pipe 57, significantly enhancing the structural strength of the seabed cover layer and effectively improving the anti-scouring ability of the soil around the submarine cable.

[0033] The entire operation process relies on the real-time feedback and path planning of the identification and control system 7 to ensure construction continuity and high-precision positioning, adapt to complex terrain and deep-water environments, significantly improve construction efficiency and project quality, and promote the intelligent and green development of submarine cable protection operations.

[0034] Through the above technical solution, compared with the existing technology, the present invention provides a safe, efficient, green, integrated submarine operation solution, which can significantly improve the operational reliability and operation and maintenance efficiency of submarine cable projects, and has broad engineering application prospects and promotion value.

[0035] In particular, this invention utilizes an environmentally friendly mud formula and automated operation process, minimizing the impact on the marine environment. Furthermore, through modular design and an intelligent control system, it reduces equipment maintenance costs and operational difficulty, providing reliable technical support for submarine cable projects. This can significantly shorten construction cycles, improve operational safety, and effectively extend the service life of submarine cables.

Claims

1. An integrated operating equipment for a submarine cable and its protective device, characterized by: It comprises a tracked vehicle (1), an anti-scouring system (5), a protective device installation system (6), and an identification and control system (7); wherein: The crawler vehicle (1) serves as a basic mobile platform, integrating the anti-scour system (5), the protective device installation system (6), and the identification and control system (7); The anti-scour system (5) includes a slurry storage tank (53), a slurry pump (52) and an adjustable slurry pipe (57). One end of the slurry storage tank (53) is connected to the slurry pump (52) via a connecting pipe (56), and the other end of the slurry storage tank (53) is connected to the adjustable slurry pipe (57). Slurry enters the slurry storage tank (53) through the slurry pump (52) and performs in-situ grouting treatment on exposed or suspended submarine cables in the seabed (9) through the adjustable slurry pipe (57). The protective device installation system (6) includes a robot (61), which is used to complete underwater replacement and installation of the protective device (4) of the submarine cable by driving the robot (61); The identification and control system (7) is responsible for the power supply, operation instruction transmission and feedback control tasks of the crawler vehicle (1), the anti-scouring system (5) and the protective device installation system (6).

2. The integrated operation equipment for a submarine cable and its protective device according to claim 1, characterized in that: The crawler vehicle (1) is provided with two crawlers, each crawler being provided with a plurality of grousers, the grousers being fixed to the crawler by bolt connection, the bolts being used to adjust the spacing and height of the grousers, and a buoyancy adjustment device being provided at the bottom of the crawler vehicle (1).

3. The integrated operation equipment for a submarine cable and its protective device according to claim 1, characterized in that: A stirring blade is provided inside the slurry storage tank (53), a solenoid valve (54) and a flow meter (55) are provided on the connecting pipe (56), the slurry pump (52) is connected to the slurry storage tank (53) via the solenoid valve (54) and the flow meter (55), and the outlet height of the adjustable slurry pipe (57) is adjusted by a hydraulic drive mechanism.

4. The integrated operation equipment for a submarine cable and its protective device according to claim 1, characterized in that: The protective device (4) of the submarine cable includes a bend limiter (41) and a sleeve (42). The protective device installation system (6) also includes an oil cylinder (63), a telescopic rod (62), a storage bin (64) and a conveying platform (65). The oil cylinder (63) drives the telescopic rod (62) by hydraulic pressure to achieve length adjustment. The end of the telescopic rod (62) is connected to the machine (61) through a universal joint (66). The storage bin (64) is used to store the bend limiter (41) and the sleeve (42) to be installed; the conveying platform (65) transports the bend limiter (41) and the sleeve (42) from the storage bin (64) to the working position of the machine (61).

5. The integrated operation equipment for a submarine cable and its protective device according to claim 4, characterized in that: The robot (61) is configured as a symmetrical double-arm structure, each arm comprising a gripper (612), a bolt fastener (611) and a cutter (613), the gripper (612) adopts a multi-degree-of-freedom design, and the bolt fastener (611) is equipped with a torque sensor.

6. The integrated operation equipment for a submarine cable and its protective device according to claim 1, characterized in that: The identification and control system (7) is based on sonar detection technology and image recognition algorithms, and can accurately locate the position of exposed or suspended submarine cables (3) and the cable's protective devices (4), and generate a three-dimensional model to assist in operation planning.

7. The integrated operation equipment for a submarine cable and its protective device according to any one of claims 1 to 6, characterized in that: An operating vessel (8) is provided on the sea surface. A mud configuration pool (81) is provided on the operating vessel (8). A delivery riser (84) is provided at the bottom of the mud configuration pool (81). The delivery riser (84) injects mud into the mud storage tank (53).

8. The integrated operation equipment for a submarine cable and its protective device according to claim 7, characterized in that: A stirrer (82) and a vibration system (83) are provided in the mud preparation pool (81). The stirrer (82) adopts a double-axis design, and the vibration system (83) accelerates the discharge of bubbles in the mud through high-frequency vibration.

9. The integrated operation equipment for a submarine cable and its protective device according to claim 7, characterized in that: The identification and control system (7) is connected to the operating vessel (8) via a signal cable (85), and the signal cable (85) and the transport riser (84) share a common armor (86) sheathing structure.

10. An operating method for the integrated operating equipment of a submarine cable and its protective device according to any one of claims 7 to 9, characterized in that: The steps include: S1: The protective device installation system (6) is started, and the protective device (4) of the submarine cable is automatically installed and disassembled by the robot (61); S2: After the protective device (4) is installed, the work vessel (8) prepares the grouting mud (51) in real time, and then transports the grouting mud (51) to the slurry storage tank (53) in the anti-scour system (5) integrated on the crawler vehicle (1) located on the seabed through the delivery riser (84); S3: Under the instruction of the identification and control system (7), the exposed or suspended submarine cable (3) is precisely located, and the crawler vehicle (1) drives the mud pump (52) in the anti-scour system (5) and implements in-situ grouting on the exposed or suspended submarine cable (3) in the seabed (9) through the adjustable grouting pipe (57).

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