An underwater deep buried object salvage system

Abstract

The present invention discloses an underwater deep-buried object salvage system, comprising: an underwater submersible, a grasping mechanism, an anti-sinking leg mechanism and a jet system, wherein a probe arm is rotatably connected to the bottom of the underwater submersible, and is used for rotating downward to probe the underwater deep-buried object, and comprises a probe body, a probe jet assembly and a sensing assembly, and is used for probing the underwater deep-buried object; the anti-sinking leg mechanism comprises at least four support units which are arranged at four corners of the bottom of the underwater submersible, and each support unit is configured as a retractable structure; the jet system is connected to the probe jet assembly through a pipeline, and is used for providing high-pressure water to the probe jet assembly; the system adopts a method of using a probe arm to probe and determine the position of the deep-buried object, and then the grasping mechanism grasps the object, so as to realize accurate positioning of the deep-buried object and low-difficulty salvage, has less destructiveness to the underwater surrounding environment, and has high safety, and has broad application prospects in the fields of underwater salvage, submarine pipeline maintenance, etc.

Description

Technical Field

[0001] The invention relates to the technical field of underwater deep-buried object detection, and in particular to an underwater deep-buried object salvaging system. Background Art

[0002] In underwater salvage operations, we often encounter salvage objects buried deep in mud, such as submarine pipelines, UUVs stuck in mud, and buried special objects. Such salvage operations are affected by the surrounding mud and have problems such as invisible targets, easy collapse, and difficulty in salvaging. Most of the existing salvage operations of this type use large-scale excavation and cofferdams, but when the total burial depth exceeds 20 meters and the soil is soft mud, the construction difficulty of this method will increase sharply, and it will cause serious damage to the underwater environment.

[0003] Chinese patent application CN112319735A discloses a salvage device for a cable-controlled salvage submersible. However, since accurate information such as the target position and depth need to be obtained in advance during operation, it is not suitable for salvaging deeply buried objects. Summary of the invention

[0004] In response to the above problems, the inventor provides a salvage system that has both target detection and positioning and dredging and salvage functions, which solves the problems of invisible underwater buried objects and great difficulty in salvage.

[0005] An underwater buried object salvage system comprises: an underwater submersible and a grabbing mechanism arranged on the underwater submersible, wherein the underwater submersible is connected to a mother ship via an umbilical cable, and the underwater submersible is provided with:

[0006] The probe arm is rotatably connected to the bottom of the underwater submersible and is used to rotate downward to explore the underwater deeply buried objects. It includes a probe body, a probe jet assembly and a sensing assembly. The probe jet assembly is arranged on the probe body and is used to remove the silt on the deeply buried tubular object when the probe body is explored downward; the sensing assembly is arranged on the probe body and is used to sense whether the probe body touches the underwater deeply buried object;

[0007] The anti-sinking leg mechanism comprises at least four support units disposed at four corners of the bottom of the underwater submersible, each of the support units being configured as a retractable structure to rotate out of the bottom of the underwater submersible or rotate back into the bottom of the underwater submersible;

[0008] A spray system, the spray system is connected to the probe spray assembly through a pipeline, and is used to provide high-pressure water to the probe spray assembly;

[0009] A plurality of the grabbing mechanisms are arranged along the same straight line, and the plurality of grabbing mechanisms cooperate to grab underwater buried objects.

[0010] Furthermore, the sensing component comprises:

[0011] A seesaw is disposed at the bottom of the probe body and is floatingly connected to the probe body;

[0012] The force sensor is arranged inside the detection body and is used to sense the resistance exerted on the seesaw.

[0013] Further, the detection body is rotatably connected to the underwater submersible through a mounting seat, and the detection jet assembly includes:

[0014] A water supply pipeline is arranged on the mounting seat;

[0015] A water channel is provided inside the probe body, and the water supply pipeline is connected to the water channel via a gas-liquid slip ring;

[0016] The water channel is provided with a plurality of nozzles; the seesaw is provided with a plurality of spray holes, and the nozzles correspond to the spray holes.

[0017] Furthermore, the support units each include:

[0018] A rotating assembly is provided at the bottom of the underwater submersible;

[0019] A support assembly, disposed at one end of the rotating assembly away from the underwater submersible, for supporting the underwater submersible, wherein the support assembly is configured to move in a vertical direction;

[0020] The rotating assembly drives the supporting assembly to rotate out of the bottom of the underwater submersible or rotate back to the bottom of the underwater submersible.

[0021] Furthermore, the rotating assembly comprises:

[0022] A rotating shaft, fixed to the bottom of the underwater submersible;

[0023] The swing arm has one end connected to the rotating shaft through a bearing, and the other end connected to the supporting assembly; an angle sensor is provided at the connection between the swing arm and the bearing, and the angle sensor is used to measure the rotation angle of the swing arm.

[0024] A swing assembly is provided on the underwater submersible and connected to the rotating arm, and is used to drive the rotating arm to rotate around the rotating shaft;

[0025] The swing assembly comprises:

[0026] A fixing seat, arranged at the bottom of the underwater submersible;

[0027] A first swing rod, hinged to the rotating arm;

[0028] A second swing rod, one end of which is hinged to the first swing rod, and the other end of which is hinged to the fixing seat;

[0029] The swing driving member is arranged on the fixing seat and connected with the second swing rod, and is used for driving the second swing rod and the first swing rod to swing, thereby driving the rotating arm to rotate.

[0030] Furthermore, the support assembly comprises:

[0031] Support member; the support member located at the bottom of the front end of the underwater submersible is a slide, and the support member located at the bottom of the rear end of the underwater submersible is a support disc;

[0032] A lifting drive member is provided on the rotating arm and connected to the supporting member, and is used to drive the supporting member to lift;

[0033] Furthermore, each of the gripping mechanisms comprises:

[0034] Hand claws;

[0035] Gripper drive parts;

[0036] A telescopic component, fixedly connected to the gripper, and used to drive the gripper to extend and retract;

[0037] A grabbing and spraying assembly is arranged inside the gripper and connected to the pipeline of the spraying system through a linear water slip ring, and is used to further remove silt on the deeply buried tubular object during the grabbing process;

[0038] The feeler assembly is arranged at the top of the gripper and is used to feel the deeply buried tubular object grasped by the gripper during the salvage process to prevent the gripper from closing too much.

[0039] Furthermore, the grabbing and spraying assembly comprises:

[0040] A spray water channel is arranged inside the telescopic component and enters the inside of the hand gripper along the inside of the telescopic component, and is connected to the pipeline of the spray system through the linear water sliding ring;

[0041] A plurality of invisible nozzles are arranged inside the gripper and connected to the spray water path.

[0042] Furthermore, the probe assembly comprises:

[0043] A guide post is arranged on the top of the gripper and has a spring thereon;

[0044] The probe plate is arranged at the bottom of the guide column. When the probe plate is squeezed by the deeply buried tubular object, it drives the guide column to move upward.

[0045] The proximity switch is arranged above the guide column and is used for sensing the guide column.

[0046] Furthermore, the gripping mechanism further comprises: a sensor group for measuring the closing force of the gripper, the sensor group comprising:

[0047] one or more of a force sensor and an oil pressure sensor;

[0048] The force sensor is arranged at the shaft pin of the gripper driving member; and the oil pressure sensor is arranged on the driving oil circuit of the gripper driving member.

[0049] Working principle of the present invention:

[0050] Before the operation, the exploration arm is in a retracted state; when the underwater submersible reaches the designated position, it starts to spray high-pressure water to supply water to the exploration arm. After the high-pressure water is ejected from the nozzle of the exploration arm, it can form a jet to break the soil. Then the exploration arm is driven to rotate and lower until it reaches the designated depth, and the high-pressure spraying and breaking the soil state is maintained during this period; or when the underwater submersible is sailing close to the bottom according to the pre-set trajectory, the exploration arm is driven by the underwater submersible to move under the mud while spraying and breaking the soil. During the exploration process, the resistance is sensed by the sensing component. If the resistance suddenly increases, the movement is stopped, and the front is detected and confirmed by repeatedly extending and retracting the exploration arm in small amounts.

[0051] After confirming that the target has been found, the underwater submersible records the location and then resets the probe arm; the underwater submersible lands on the bottom through the anti-sinking outrigger mechanism to salvage the tubular object.

[0052] Compared with the prior art, the present invention has the following beneficial effects:

[0053] (1) The present invention uses a probe arm to detect and determine the position of a deeply buried object, and then uses a grasping mechanism to grasp it, thereby achieving accurate positioning of the deeply buried object, thereby being able to excavate and salvage objects buried deep in the mud.

[0054] (2) By using the exploration and spraying method, the surface of the deeply buried object can be broken during the exploration process, thereby reducing the resistance received by the grabbing mechanism during the salvage process. At the same time, it can effectively prevent the deeply buried objects (especially tubular deeply buried objects) from being bent or damaged by the silt, thereby protecting the deeply buried objects.

[0055] (3) The anti-sinking leg mechanism can be retracted to the bottom of the submersible during the process of launching / emerging from the water, making deployment / retrieval relatively more convenient. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] Figure 1 It is a schematic diagram of the underwater deep-buried tubular object salvage operation system in Example 1;

[0057] Figure 2 It is a structural schematic diagram of the underwater submersible in Example 1;

[0058] Figure 3 Schematic diagram of the initial state of the probe arm in Example 1;

[0059] Figure 4is a schematic structural diagram of the probe arm in Example 1;

[0060] Figure 5 It is a structural schematic diagram of the anti-settling leg mechanism in Example 1;

[0061] Figure 6 It is a schematic diagram of the rotation principle of the anti-settling leg mechanism in Example 1;

[0062] Figure 7 This is a diagram showing the use status of the anti-settling leg mechanism in Example 1;

[0063] Figure 8 This is a diagram showing the recovery state of the front end skid of the underwater submersible in Example 1;

[0064] Fig. 9 This is a diagram showing the recovery state of the rear end support disc of the underwater submersible in Example 1;

[0065] Fig.10 It is a structural schematic diagram of the grabbing mechanism in Example 1;

[0066] Fig.11 is a schematic diagram of the structure of the probe assembly in Example 1;

[0067] Fig.12 This is a schematic diagram of the grasping process of the grasping mechanism in Example 1.

[0068] Reference numerals:

[0069] 1- underwater submersible; 11- main frame; 12- floating body; 13- jet flushing system; 14- probe arm; 141- mounting seat; 142- probe body; 143- bearing; 144- oil cylinder; 145- water supply pipeline; 146- gas-liquid slip ring; 147- rocker; 148- jet punching hole; 15- anti-sinking leg mechanism; 151- swing arm; 152- rotating shaft; 153- swing assembly; 1531- fixed seat; 1532- first swing rod; 1533- second swing rod; 1534- swing oil cylinder; 154- sliding rocker; 155- supporting disc; 156 -lifting cylinder; 157-guide; 16-grabbing mechanism; 161-telescopic guide rail; 162-telescopic drive; 162-claw; 1621-claw drive; 1622-opening; 1623-anti-skid protection pad; 163-linear water slip ring; 164-rotating water slip ring; 1651-guide column; 1652-sensor plate; 1653-spring; 1654-proximity switch; 1655-mounting plate; 166-force sensor; 167-oil pressure sensor; 2-surface deployment system; 3-surface monitoring system; 4-deeply buried tubular object; 5-mother ship. DETAILED DESCRIPTION

[0070] The present invention will be further described in detail below through specific implementation modes in conjunction with the accompanying drawings.

[0071] Gas-liquid slip ring (water slip ring): used to provide the target with a medium that meets certain pressure, temperature and flow requirements.

[0072] Example 1

[0073] like Figure 1 As shown, this embodiment discloses an underwater deeply buried tubular object salvage operation system, including a mother ship 5, an underwater submersible 1, a surface deployment system 2, a surface monitoring system 3 and a surface power system, wherein the surface monitoring system 3 and the surface power system are respectively connected to the underwater submersible 1 through an umbilical cable, and the umbilical cable provides high-voltage strong electric power and a control signal transmission channel to the underwater submersible 1; the underwater submersible 1 is deployed and recovered underwater through the deployment system 2; and the entire salvage operation process is completed by the operator on the surface through remote control.

[0074] Specifically, Figure 2 As shown, the underwater submersible 1 includes: a main frame 11 as an installation foundation and an operation support platform, a floating body 12, a jet system 13, a probe arm 14, an anti-sinking leg mechanism 15, a grabbing mechanism 16, a propulsion system, a hydraulic power system, an underwater control system and a detection sensor system, wherein the float 12 is made of buoyancy material and is arranged on the top of the main frame 11. The probe arm 14 is longitudinally arranged at the center of the middle beam of the main frame 11, and can be rotated around the rotating shaft of the beam base to be lowered or recovered. In the initial state, the probe arm 14 is retracted at the bottom of the main frame 11 and points to the rear of the underwater submersible 1. There are four sets of grabbing mechanisms 16, which are arranged at equal intervals along the main frame 11 in the horizontal direction, and work together to grab the deeply buried tubular object 4. The jet system 13 is arranged above the middle structure of the main frame 11, and is connected to the probe arm 14 and the grabbing mechanism 16 through pipelines, and can provide them with large-flow high-pressure water for jetting and breaking the soil. The propulsion system is arranged on the main frame 11 to provide the propulsion force required for the movement of the underwater submersible 1. The anti-sinking leg mechanism is installed at the bottom of the underwater submersible 1. It can adopt four, six, eight or more support units. The specific number is adjusted according to the size of the underwater submersible 1. In this embodiment, four support units are adopted, which are respectively located at the four corners of the bottom of the underwater submersible 1 to provide the support force required for lifting and prevent the underwater submersible 1 from sinking or capsizing. The hydraulic power system provides hydraulic power to the probe arm 14, the anti-sinking leg mechanism, the grasping mechanism and the propulsion system through hydraulic pipelines. The underwater control system is connected to the hydraulic power system and the detection sensor system through underwater cables to realize sensor information collection and mechanism control.

[0075] Furthermore, if Figure 3-4As shown, the probe arm 14 includes: a mounting seat 141 and a probe body 142. The upper end of the mounting seat 141 is connected to the underwater submersible carrying structure, and the lower end is connected to two sets of probe bodies 142 through bearings 143 and gas-liquid slip rings 146. The two sets of probe bodies 142 are two independent systems with the same structure and composition. The two sets of probe bodies 142 are driven by two independent oil cylinders 144 respectively. One end of the oil cylinder 144 is connected to the underwater submersible, and the other end is connected to the upper part of the probe body 142. The oil cylinder 144 can be extended to drive the probe body 142 to rotate around the center of the bearing 143 to realize the lowering and recovery of the probe body 142. The bearings 143 are designed to be installed in pairs, with a total of two pairs. A set of probe bodies 142 is installed in the middle of each pair of bearings 143 to play the role of rotation support.

[0076] The probe body 142 is provided with a probe spray assembly and a sensing assembly, wherein the probe spray assembly includes: a water supply pipeline 145 and a water channel, the water supply pipeline 145 is T-shaped, one end of which is connected to the water channel of the underwater submersible through a flange, and the other end is connected to the water channel through a gas-liquid slip ring 146, and the high-pressure spray water is distributed to the water channels at both ends through the gas-liquid slip ring 146 through the T-shaped structure. The water channel is arranged inside the probe body 142, and a plurality of inward, outward and forward invisible nozzles are arranged on it, which can form a jet breaking in multiple directions.

[0077] The sensing component is arranged at the bottom of the probe body 142, and specifically includes: a seesaw 147 and a force sensor. The seesaw 147 is in the form of multi-end splicing as a whole. It adopts a thin-walled plate structure, and one side of the bottom surface (close to the target object) is coated with nylon organic material to prevent damage to the target surface. The seesaw 147 adopts a floating connection for movement and force transmission isolation (movable hinge, gap installation, etc.). There are multiple jet punching holes 148 on the seesaw 147, and the nozzles correspond to the jet punching holes 148 to break the soil. The force sensor is placed inside the probe body 142 to sense the resistance of the seesaw 147. When the probe body 142 rotates and probes downward, if the seesaw 147 touches the target object, it will compress toward the probe body 142, and the force sensor senses the change in resistance of the probe body 142 by sensing the pressure from the seesaw 147.

[0078] like Figure 5-9 As shown, each support unit includes: a rotating assembly and a supporting assembly. The rotating assembly can drive the supporting assembly to be expanded or retracted. During the supporting operation, all four support units can be swung outward to form an X-shaped support, which can effectively increase the supporting range and prevent the platform from tilting, becoming unstable, and other problems due to jet disturbances or increased support loads at the bottom of the platform. After the operation is completed, all support units can be retracted to the bottom of the underwater submersible 1.

[0079] Specifically, the rotating assembly includes: a swing assembly 153, a rotating arm 151 and a rotating shaft 152. The rotating shaft 152 is fixed to the bottom of the underwater submersible 1 by bolts. The rotating arm 151 is a Y-beam structure, one end of which is connected to the rotating shaft 152 by a pair of sliding bearings, so as to realize the rotation of the rotating arm 151 around the rotating shaft 152. An angle sensor is provided at the connection between the rotating arm 151 and the sliding bearing, and the angle sensor is used to measure the rotation angle of the rotating arm 151. The swing assembly 153 is located on one side of the rotating shaft 152, and includes: a fixed seat 1531, a first swing arm 1532, a second swing arm 1533 and a swing cylinder 1534. The fixed seat 1531 is fixed to the bottom of the underwater submersible 1, and the swing cylinder 1534 and the second swing arm 1533 are installed on the fixed seat 1531. The other end of the second swing arm 1533 is connected to the output end of the swing cylinder 1534 and the first swing arm 1532. The other end of the first swing arm 1532 is connected to the swing arm 151. The first swing arm 1532 and the second swing arm 1533 are driven to swing by the swing cylinder 1534, thereby driving the swing arm 151 to rotate around the rotating shaft 152, thereby realizing the deployment and recovery of the swing arm 151. After the swing arm 151 is recovered, the overall volume of the underwater submersible 1 can be effectively reduced, and the difficulty of storage, transportation and deployment can be reduced. After the rotating arm 151 is unfolded, the support range can be effectively increased to prevent the platform from tilting, becoming unstable, and other problems due to jet disturbance or increased support load at the bottom of the platform.

[0080] Furthermore, the support assembly includes: support members and lifting cylinders 156, wherein the two support members located at the front end of the underwater submersible 1 are skids 154, which can be used as the main support to prevent the underwater submersible 1 from sinking or overturning, and can also be used as auxiliary supports to keep the posture of the underwater submersible 1 stable when the underwater submersible 1 slides close to the bottom. The two support members located at the rear end are support discs 155, which are only used to support the platform. The lifting cylinder 156 is used to adjust the height of the skids 154 and the support discs 155 to ensure that the underwater submersible 1 can be in a relatively horizontal state on an uneven bottom of the water to avoid it from tilting.

[0081] Furthermore, due to the particularity of the structure of the slide 154 , in order to improve the stability of the slide 154 in lifting and lowering, a guide member 157 is provided at one end of the rotating arm 151 close to the slide 154 to guide the slide 154 in lifting and lowering.

[0082] like Figure 10-12As shown, the gripping mechanism 16 includes a gripper 162, a telescopic assembly, a gripping spray assembly and a probe assembly, wherein the telescopic assembly adopts a multi-level nested telescopic structure, specifically including a multi-level nested telescopic guide rail 1611, each level of the telescopic guide rail 1611 is driven by a telescopic driving member 162, one end of the telescopic driving member 162 is located on the outermost telescopic guide rail 1611, and the other end is connected to the telescopic guide rail 1611 of the corresponding layer, so as to realize the telescopic movement of the telescopic guide rails 1611 of different layers, thereby driving the movement of the gripper 162.

[0083] The gripper 162 is a hollow structure that can cross and close, and is opened and closed by two gripper driving parts 1621. The gripper 162 and the target contact part (inside) adopts an involute line or other linear shape, and its inner surface is covered with an anti-skid protective pad 1623 made of organic materials such as nylon, which increases the friction resistance and is not easy to damage the outer surface of the buried object, thus playing a certain protective role for the buried object. The gripper 162 body is provided with a plurality of openings 1622, and the grabbing and spraying assembly is arranged inside the telescopic guide rail 1611 and the gripper 162, and is connected to the waterway of the salvage platform through a linear water slip ring 163. After the high-pressure water flow enters the grabbing and spraying assembly from the waterway of the salvage platform, it is sprayed out from the opening 1622 to break the soil and remove the silt on the buried object. Specifically, the grabbing and spraying assembly includes: a spraying water circuit and multiple invisible nozzles. The spraying water circuit is arranged inside the telescopic assembly, and after entering the inside of the claw 162 by rotating the water sliding ring 164, it is connected to the invisible nozzle inside the claw 162. The number of invisible nozzles corresponds to the number of openings 1622.

[0084] The feeler assembly is disposed at the top of the claw 162 and is used to feel the deeply buried objects grasped by the claw 162 during the salvage process to prevent the claw 162 from closing too much. Figure 3 As shown, it includes a guide column 1651, a probe plate 1652 and a proximity switch 1654. The guide column 1651 and the proximity switch 1654 are both arranged on the gripper 162 through a mounting plate 1655. The guide column 1651 is movably connected to the mounting plate 1655, and a spring 1653 is sleeved thereon. The probe plate 1652 is arranged at the bottom of the guide column 1651. When the probe plate 1652 is squeezed by a deeply buried object, it drives the guide column 1651 to move upward. After the deeply buried object is put down, it is reset under the action of the spring 1653. The proximity switch 1654 is at the limit position of the upward movement stroke of the probe plate 1652, and is used to sense the guide column 1651. When the probe plate 1652 is squeezed to the limit position by the deeply buried object, the guide column 1651 rises, the proximity switch 1654 is triggered, and the feedback is given to the control system. The control system sends a stop signal to control the gripper 162 to stop closing and damage the deeply buried object.

[0085] In order to further enhance the protection capability of the mechanism when salvaging deeply buried objects, a sensor group may be provided on the mechanism, the sensor group including: one or more of a force sensor 166, an electromagnetic induction sensor and an oil pressure sensor 167, wherein the force sensor is provided at the axle pin of the gripper driving member 1621, and the oil pressure sensor 167 is provided in the driving oil path of the gripper driving member 1621, both of which are used to measure the closing force of the gripper 162. The electromagnetic induction sensor is provided at the top of the inner wall of the gripper 162, and is used to sense the approximate position of the salvaged object.

[0086] The specific salvage process of deeply buried tubular objects is as follows:

[0087] a) Lower the underwater submersible into the water through the surface deployment system.

[0088] b) Make the claws of all the grabbing and lifting mechanisms on the underwater submersible fully open, and at the same time adopt the remote control operation mode of the submersible close to the bottom, so that the underwater submersible can use the exploration arm to jet and break the ground under the mud to explore and locate the target object during the process of moving close to the bottom.

[0089] c) After the target is located, the probe arm is recovered and the anti-sinking leg mechanism is lowered and touches the ground, so that the submersible forms a stable support to prevent the entire submersible body from tilting or sinking due to soil collapse during target dredging.

[0090] d) Slowly lower one set of the grippers (usually in the middle position) while the nozzle is spraying. The nozzle remains in the spraying state during the lowering process, and the sludge at that position will be cleared during this process.

[0091] e) After the grippers reach the designated position, slowly close the grippers. When the resistance of the grippers on both sides reaches a balanced state, stop closing the grippers.

[0092] f) Use the same operation to lower other grabbing and lifting mechanisms one by one in sequence.

[0093] g) Through the jet desilting between the grabbing and lifting mechanisms, the silt above the salvaged object is gradually removed to achieve the purpose of reducing its lifting resistance.

[0094] h) Synchronously retract all grippers until the feeler mechanism indicates that the salvaged object has reached the limit position, or the gripping force of the grippers reaches the set state.

[0095] i) All grabbing mechanisms are lifted synchronously, and after being lifted into place, the anti-sinking leg mechanisms are recovered. The submersible uses the propulsion system to carry the target to the surface, where it is recovered by the surface deployment system.

[0096] The above specific examples are used to illustrate the present invention, which is only used to help understand the present invention and is not intended to limit the present invention. For those skilled in the art, according to the concept of the present invention, some simple deductions, modifications or substitutions can be made.

Claims

1. An underwater buried object salvage system, comprising: An underwater submersible and a grabbing mechanism provided on the underwater submersible, wherein the underwater submersible is connected to a mother ship via an umbilical cable, and is characterized in that it further comprises: The probe arm is rotatably connected to the bottom of the underwater submersible and is used to rotate downward to explore the underwater deeply buried objects. It includes a probe body, a probe jet assembly and a sensing assembly. The probe jet assembly is arranged on the probe body and is used to remove the silt on the deeply buried tubular object when the probe body is explored downward; the sensing assembly is arranged on the probe body and is used to sense whether the probe body touches the underwater deeply buried object; the sensing assembly includes: A seesaw is disposed at the bottom of the probe body and is floatingly connected to the probe body; A force sensor is disposed inside the probe body, and the force sensor senses the change of the resistance of the probe body by sensing the pressure from the seesaw; The anti-sinking leg mechanism comprises at least four support units disposed at four corners of the bottom of the underwater submersible, each of the support units being configured as a retractable structure to rotate out of the bottom of the underwater submersible or rotate back into the bottom of the underwater submersible; The underwater submersible is provided with a jet system, which is connected to the probe jet assembly through a pipeline and is used to provide high-pressure water to the probe jet assembly; The detection body is rotatably connected to the underwater submersible through a mounting seat, and the detection jet assembly includes: A water supply pipeline is arranged on the mounting seat; A water channel is provided inside the probe body, and the water supply pipeline is connected to the water channel via a gas-liquid slip ring; The water channel is provided with a plurality of nozzles; the seesaw is provided with a plurality of spray holes, and the nozzles correspond to the spray holes.

2. The salvage system according to claim 1, characterized in that: The supporting units all include: A rotating assembly is provided at the bottom of the underwater submersible; A support assembly, disposed at one end of the rotating assembly away from the underwater submersible, for supporting the underwater submersible, wherein the support assembly is configured to move in a vertical direction; The rotating assembly drives the supporting assembly to rotate out of the bottom of the underwater submersible or rotate back to the bottom of the underwater submersible.

3. The salvage system according to claim 2, characterized in that: The rotating assembly comprises: A rotating shaft, fixed to the bottom of the underwater submersible; A rotating arm, one end of which is connected to the rotating shaft through a bearing, and the other end of which is connected to the supporting assembly; an angle sensor is provided at the connection between the rotating arm and the bearing, and the angle sensor is used to measure the rotating angle of the rotating arm; A swing assembly is provided on the underwater submersible and connected to the rotating arm, and is used to drive the rotating arm to rotate around the rotating shaft; The swing assembly comprises: A fixing seat, arranged at the bottom of the underwater submersible; A first swing rod, hinged to the rotating arm; A second swing rod, one end of which is hinged to the first swing rod, and the other end of which is hinged to the fixing seat; The swing driving member is arranged on the fixing seat and connected with the second swing rod, and is used for driving the second swing rod and the first swing rod to swing, thereby driving the rotating arm to rotate.

4. The salvage system according to claim 3, characterized in that: The support assembly comprises: Support member; the support member located at the bottom of the front end of the underwater submersible is a slide, and the support member located at the bottom of the rear end of the underwater submersible is a support disc; The lifting driving member is arranged on the rotating arm and connected with the supporting member, and is used for driving the supporting member to lift and lower.

5. The salvage system according to claim 1, characterized in that: The grabbing mechanism comprises: Hand claws; Gripper drive parts; A telescopic component, fixedly connected to the gripper, and used to drive the gripper to extend and retract; A grabbing and spraying assembly is arranged inside the gripper and connected to the pipeline of the spraying system through a linear water slip ring, and is used to further remove silt on the deeply buried tubular object during the grabbing process; The feeler assembly is arranged at the top of the gripper and is used to feel the deeply buried tubular object grasped by the gripper during the salvage process to prevent the gripper from closing too much.

6. The salvage system according to claim 5, characterized in that: The grabbing and spraying assembly comprises: A spray water channel is arranged inside the telescopic component and enters the inside of the hand gripper along the inside of the telescopic component, and is connected to the pipeline of the spray system through the linear water sliding ring; A plurality of invisible nozzles are arranged inside the gripper and connected to the spray water path.

7. The salvage system according to claim 6, characterized in that: The probe assembly comprises: A guide post is arranged on the top of the gripper and has a spring thereon; The probe plate is arranged at the bottom of the guide column. When the probe plate is squeezed by the deeply buried tubular object, it drives the guide column to move upward. The proximity switch is arranged above the guide column and is used for sensing the guide column.

8. The salvage system according to claim 5, characterized in that: The gripping mechanism further comprises: a sensor group for measuring the closing force of the gripper, the sensor group comprising: one or more of a force sensor and an oil pressure sensor; The force sensor is arranged at the shaft pin of the gripper driving member; and the oil pressure sensor is arranged on the driving oil circuit of the gripper driving member.

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