A soil cleaning tool for buried submarine cable and a method for detecting buried depth and angle thereof

Abstract

A soil cleaning tool for buried submarine cables and a method for detecting the buried depth and angle thereof, comprising a base, a U-shaped opening is arranged in the middle of one end, a vertical plate is arranged on the bottom surface of the other end, a spaced main shaft mounting seat is arranged on one side of the vertical plate, and the main shaft is supported and installed between the two main shaft mounting seats; a support frame is fixed on the base, a high-pressure water pump is installed on it, and the output port of the high-pressure water pump is provided with a right water outlet flange and a left water outlet flange of the water pump; a right spray arm and a left spray arm rotating around the main shaft are sleeved on the main shaft, and the bottom of the right spray arm and the left spray arm are provided with a plurality of small holes, which are the outlets of high-pressure water; an ear plate is arranged on the outer side of the head of the right spray arm, and a mounting seat is arranged at the bottom of the base, and an oil cylinder is installed on the mounting seat, and the output end of the oil cylinder is connected to the ear plate, and the mounting structure of the left spray arm is the same as that of the right spray arm. The tool can be used to conveniently clean up the soil above the buried cable, so that the cable is fully exposed to the sea water, forming an open working space.

Description

Technical Field

[0001] The invention relates to the technical field of underwater working tools, in particular to a soil covering and cleaning tool for buried submarine cables and a method for detecting the buried depth and angle thereof. Background Art

[0002] With the development of human marine science research, marine resource development and island economy, the use of submarine cables is becoming more and more widespread.

[0003] Usually, submarine cables are laid in a buried manner, buried under the soil to prevent them from being bitten by large marine organisms and damaged by human activities. However, as time goes by, the buried state of the submarine cable will inevitably change due to factors such as sediment deposition, changes in the marine environment, and geological activities. When a submarine cable fails, it is usually necessary to use ROVs with operating tools to approach for exploration, maintenance, replacement, and shearing when necessary. At this time, the soil covering the cable and the unknown cable burial depth and azimuth angle information will greatly reduce the efficiency and pertinence of the maintenance and repair work. Summary of the invention

[0004] In view of the shortcomings of the above-mentioned existing production technology, the applicant provides a soil covering and cleaning tool for buried submarine cables and a method for detecting the buried depth and angle thereof, so that the soil above the buried cable can be easily cleaned by using the tool, so that the cable is fully exposed to the sea water, forming an open working space.

[0005] The technical solution adopted by the present invention is as follows:

[0006] A soil covering and cleaning tool for buried submarine cables, comprising a base,

[0007] The structure of the base is as follows: it includes a base body, a U-shaped opening is arranged in the middle of one end of the base body, a vertical plate is arranged on the bottom surface of the other end of the base body, a spaced spindle mounting seat is arranged on one side of the vertical plate, and the spindle is supported and installed between the two spindle mounting seats;

[0008] A support frame is fixed on the base body at the U-shaped opening, and a high-pressure water pump is fixedly installed on the support frame. The high-pressure water pump is driven by an underwater motor, and a right water outlet flange and a left water outlet flange of the water pump are arranged at the output port of the high-pressure water pump;

[0009] The main shaft is provided with a right spray arm and a left spray arm rotating around the main shaft, a right spray arm water inlet flange is welded on the right spray arm, and a left spray arm water inlet flange is welded on the left spray arm. The right spray arm water inlet flange is connected to the right water outlet flange of the water pump through a hose, and the left spray arm water inlet flange is connected to the left water outlet flange of the water pump through a hose. The bottoms of the right spray arm and the left spray arm are provided with a plurality of small holes, which are outlets for high-pressure water; a right spray arm is provided on the outside of the head of the right spray arm A swing ear plate, a right spray arm cylinder mounting seat is provided at the bottom of the base body, a right spray arm swing cylinder is installed on the right spray arm cylinder mounting seat, and the output end of the right spray arm swing cylinder is connected to the right spray arm swing ear plate, a left spray arm swing ear plate is provided on the outside of the left spray arm head, a left spray arm cylinder mounting seat is provided at the bottom of the base body, a left spray arm swing cylinder is installed on the left spray arm cylinder mounting seat, and the output end of the left spray arm swing cylinder is connected to the left spray arm swing ear plate.

[0010] Its further technical solution is:

[0011] The base is an integrated structure.

[0012] A plurality of weight-reducing holes are provided on the base body and the vertical plate of the base.

[0013] The base body is a thin plate structure.

[0014] The base body is provided with a plurality of mounting holes and oblong holes.

[0015] A plurality of reinforcing plates are arranged on the other side of the vertical plate.

[0016] Displacement sensors are installed in the right spray arm swing cylinder and the left spray arm swing cylinder.

[0017] The right spray arm and the left spray arm are both hollow structures with high-pressure water flow channels formed inside.

[0018] The right spray arm and the left spray arm are arranged in parallel with each other.

[0019] A method for detecting the buried depth and angle of a soil cleaning tool for buried submarine cables comprises the following steps:

[0020] Step 1: Preparation: Install the base under the crawler ROV near the target cable sea area, and the crawler ROV crawls forward;

[0021] Step 2: Start the underwater motor to drive the high-pressure water pump to pump out high-pressure water, which enters the right spray arm and the left spray arm through the hose, and sprays high-pressure water through the small holes at the bottom of the right spray arm and the left spray arm to form a jet;

[0022] Step 3: The swing cylinder of the right spray arm works, and the piston rod of the swing cylinder of the right spray arm slowly extends, driving the right spray arm to slowly swing down. During the swing down process, the seabed mud and sand swept by the right spray arm are washed away by high-pressure water, and the right spray arm extends into the mud, forming a groove on the seabed mud surface;

[0023] Step 4: The left spray arm swing cylinder works, the piston rod of the left spray arm swing cylinder slowly extends, and the left spray arm slowly swings down. During the swinging process, the seabed mud and sand swept by the left spray arm are washed away by high-pressure water, and the left spray arm extends into the mud, forming a groove on the seabed mud surface;

[0024] Step 5: The grooves formed in the third and fourth steps are connected as one;

[0025] Step 6: The surface soil covering the buried cables will be cleaned by high-pressure water jets, and the cables will be directly exposed to the water, providing an open space for cable inspection, exploration and disposal.

[0026] The beneficial effects of the present invention are as follows:

[0027] The present invention has a compact and reasonable structure and is easy to operate. The buried submarine cable soil cleaning tool is installed on a crawler ROV, and two spray-and-switch arm mechanisms are independently arranged. The rodless chamber of the swing-arm oil cylinder is connected to the overflow valve, and the swing-arm oil cylinder has a built-in displacement sensor. The working tool can be used to efficiently clean up the soil above the buried cable, so that the cable is fully exposed to the seawater to form an open working space. At the same time, the spray-and-switch arm is passively lifted when it is subjected to the resistance of the buried submarine cable, thereby causing the geometric parameters of the mechanism to change, and the buried depth parameters and the azimuth angle parameters of the buried cable are detected.

[0028] This tool can detect the buried cable depth and azimuth parameters while cleaning the buried cable soil. The operation process is compact and efficient; no additional detection equipment and instruments are required, and the system is very simple; the method of using the geometric parameters of the mechanism is highly reliable; it is not affected by the electromagnetic or acoustic environment and has strong anti-interference ability; it is mainly based on the displacement sensor data for detection, with high detection accuracy; the calculation method is simple and the amount of calculation is small.

[0029] The present invention provides a tool for close-up exploration, inspection and replacement of submarine buried cables, and shearing treatment when necessary. The tool can remove the soil covering the cable, expose the cable to the seawater, and create an open space for the cable approach operation. At the same time, the present invention has the function of detecting the buried depth and azimuth angle, which can greatly improve the pertinence of subsequent maintenance and treatment, reduce the risk of blind operation, and effectively improve the operation efficiency and safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1It is a structural schematic diagram of the present invention.

[0031] Figure 2 It is an exploded view of the present invention.

[0032] Figure 3 It is a structural schematic diagram of the base of the present invention.

[0033] Figure 4 It is a structural schematic diagram of the base of the present invention from another perspective.

[0034] Figure 5 It is a schematic diagram of the geometric relationship of cable burial depth detection of the present invention.

[0035] Figure 6 It is a schematic diagram of the relative positions of the two spray arms of the present invention.

[0036] Figure 7 Schematic diagram of the geometric relationship of buried cable angle detection according to the present invention (I).

[0037] Figure 8 Schematic diagram of the geometric relationship of buried cable angle detection according to the present invention (II).

[0038] Among them: 1. Right spray arm; 2. Right spray arm water inlet flange; 3. Right spray arm swing ear plate; 4. Right spray arm swing cylinder; 5. Right spray arm cylinder mounting seat; 6. Main shaft; 7. Base; 8. Underwater motor; 9. Water pump right water outlet flange; 10. High-pressure water pump; 11. Water pump left water outlet flange; 12. Left spray arm cylinder mounting seat; 13. Left spray arm swing cylinder; 14. Left spray arm swing ear plate; 15. Left spray arm water inlet flange; 16. Left spray arm; 17. Support frame;

[0039] 701, base body; 702, U-shaped opening; 703, vertical plate; 704, spindle mounting seat; 705, reinforcement plate. DETAILED DESCRIPTION

[0040] The specific implementation of the present invention will be described below in conjunction with the accompanying drawings.

[0041] like Figure 1-Figure 8 As shown, the soil cleaning tool for buried submarine cables of this embodiment comprises a base 7,

[0042] The structure of the base 7 is as follows: it includes a base body 701, a U-shaped opening 702 is provided in the middle of one end of the base body 701, a vertical plate 703 is provided on the bottom surface of the other end of the base body 701, and a spaced spindle mounting seat 704 is provided on one side of the vertical plate 703, and the spindle 6 is supported and installed between the two spindle mounting seats 704;

[0043] A support frame 17 is fixed on the base body 701 at the U-shaped opening 702, and a high-pressure water pump 10 is fixedly installed on the support frame 17. The high-pressure water pump 10 is driven by an underwater motor 8, and the output port of the high-pressure water pump 10 is provided with a right water outlet flange 9 and a left water outlet flange 11 of the water pump;

[0044] The main shaft 6 is provided with a right spray arm 1 and a left spray arm 16 rotating around the main shaft 6, a right spray arm water inlet flange 2 is welded on the right spray arm 1, and a left spray arm water inlet flange 15 is welded on the left spray arm 16. The right spray arm water inlet flange 2 is connected to the right water outlet flange 9 of the water pump through a hose, and the left spray arm water inlet flange 15 is connected to the left water outlet flange 11 of the water pump through a hose. The bottoms of the right spray arm 1 and the left spray arm 16 are both provided with a plurality of small holes, which are outlets for high-pressure water; a right spray arm swing ear plate is provided on the outer side of the head of the right spray arm 1 3. A right spray arm cylinder mounting seat 5 is provided at the bottom of the base body 701, and a right spray arm swing cylinder 4 is installed on the right spray arm cylinder mounting seat 5, and the output end of the right spray arm swing cylinder 4 is connected to the right spray arm swing ear plate 3, and a left spray arm swing ear plate 14 is provided on the outer side of the head of the left spray arm 16, and a left spray arm cylinder mounting seat 12 is provided at the bottom of the base body 701, and a left spray arm swing cylinder 13 is installed on the left spray arm cylinder mounting seat 12, and the output end of the left spray arm swing cylinder 13 is connected to the left spray arm swing ear plate 14.

[0045] The base 7 is an integrated structure.

[0046] A plurality of weight-reducing holes are provided on the base body 701 and the vertical plate 703 of the base 7 .

[0047] The base body 701 is a thin plate structure.

[0048] The base body 701 is provided with a plurality of mounting holes and oblong holes.

[0049] A plurality of reinforcing plates 705 are disposed on the other side of the vertical plate 703 .

[0050] Displacement sensors are installed in the right spray arm swing cylinder 4 and the left spray arm swing cylinder 13.

[0051] The right spray arm 1 and the left spray arm 16 are both hollow structures, and a high-pressure water flow channel is formed inside.

[0052] The right spray arm 1 and the left spray arm 16 are arranged in parallel with each other.

[0053] The buried depth and angle detection method of the soil cleaning tool for buried submarine cables of this embodiment includes the following steps:

[0054] Step 1: Preparation: near the target cable sea area, the base 7 is integrated and installed under the crawler ROV, and the crawler ROV crawls forward;

[0055] Step 2: Start the underwater motor 8 to drive the high-pressure water pump 10 to pump out high-pressure water, which enters the right spray arm 1 and the left spray arm 16 through the hose, and sprays the high-pressure water through the small holes at the bottom of the right spray arm 1 and the left spray arm 16 to form a jet;

[0056] Step 3: The right spray arm swing cylinder 4 works, and the piston rod of the right spray arm swing cylinder 4 slowly extends, driving the right spray arm 1 to slowly swing down. During the swing down process, the seabed mud and sand swept by the right spray arm 1 are washed away by high-pressure water, and the right spray arm 1 extends into the mud, forming a groove on the seabed mud surface;

[0057] Step 4: The left spray arm swing cylinder 13 works, the piston rod of the left spray arm swing cylinder 13 slowly extends, and the left spray arm 16 slowly swings down. During the swinging process, the seabed mud and sand swept by the left spray arm 16 are washed away by high-pressure water, and the left spray arm 16 extends into the mud, forming a groove on the seabed mud surface;

[0058] Step 5: The grooves formed in the third and fourth steps are connected as one;

[0059] Step 6: The surface soil covering the buried cables will be cleaned by high-pressure water jets, and the cables will be directly exposed to the water, providing an open space for cable inspection, exploration and disposal.

[0060] The specific structure and function of the soil cleaning tool for buried cables on the seabed described in the present invention are as follows:

[0061] It mainly includes a right spray arm 1, a right spray arm water inlet flange 2, a right spray arm swing ear plate 3, a right spray arm swing cylinder 4, a right spray arm cylinder mounting seat 5, a main shaft 6, a base 7, an underwater motor 8, a water pump right water outlet flange 9, a high-pressure water pump 10, a water pump left water outlet flange 11, a left spray arm cylinder mounting seat 12, a left spray arm swing cylinder 13, a left spray arm swing ear plate 14, a left spray arm water inlet flange 15, and a left spray arm 16.

[0062] The right spray arm 1 and the left spray arm 16 are hingedly mounted on the base 7 through the main shaft 6. The right spray arm water inlet flange 2 is welded to the right spray arm 1. The inside of the right spray arm 1 is a hollow structure, which is a flow channel for high-pressure water. There are small holes below the right spray arm 1 and the left spray arm 16, which are the outlets for high-pressure water. The right spray arm swing cylinder 4 is mounted on the base 7 through the right spray arm cylinder mounting seat 5 and connected to the right spray arm swing ear plate 3. The right spray arm swing cylinder 4 has a built-in displacement sensor that can measure the extension displacement of the cylinder. The left spray arm swing cylinder 13 is mounted on the base 7 through the left spray arm cylinder mounting seat 12 and connected to the left spray arm swing ear plate 14. The left spray arm swing cylinder 13 has a built-in displacement sensor that can measure the extension displacement of the cylinder. When the right spray arm swing cylinder 4 is extended and retracted, the right spray arm 1 will swing around the main shaft 6. When the left spray arm swing cylinder 13 is extended and retracted, the left spray arm 16 will swing around the main shaft 6.

[0063] The underwater motor 8 and the high-pressure water pump 10 are also installed on the base 7. The underwater motor 8 drives the high-pressure water pump 10 to rotate, and discharges high-pressure water to the right outlet flange 9 and the left outlet flange 11 of the water pump. The right outlet flange 9 of the water pump is connected to the water inlet flange 2 of the right spray arm through a hose, and the left outlet flange 11 of the water pump is connected to the water inlet flange 15 of the left spray arm through a hose. The high-pressure water pumped out by the high-pressure water pump 10 forms a high-speed jet through the small holes on the spray arm, acts on the seabed soil, blows off the seabed soil, and achieves the purpose of cleaning the soil covered on the cable.

[0064] The base 7 is integrated and installed under the crawler ROV, and the ROV can carry the seabed buried cable covering and cleaning tools and crawl forward on the seabed. It also supplies power to the underwater motor 8 and high-pressure oil to the right spray arm swing cylinder 4 and the left spray arm swing cylinder 13. A rotary encoder is installed on the ROV crawler drive wheel shaft, which can be used to measure the crawling displacement. A compass is installed on the crawler ROV, which can be used to measure the heading angle of the ROV.

[0065] The rodless chambers of the right spray arm swing cylinder 4 and the left spray arm swing cylinder 13 are respectively connected to overflow valves to limit the pressure of the rodless chambers. When the pressure of the rodless chambers rises to the set pressure of the overflow valves under the action of external force, the overflow valves overflow and the cylinders corresponding to the overflow valves are passively retracted.

[0066] In actual working process:

[0067] Near the sea area of ​​the target cable, the seabed buried cable soil cleaning tool is installed and mounted on the bottom of the crawler ROV, and the crawler ROV crawls forward. Start the underwater motor 8, drive the high-pressure water pump 10 to pump out high-pressure water, and the nozzle of the small hole (not shown in the figure) below the spray arm sprays high-pressure water to form a jet. Then the right spray arm swing cylinder 4 is slowly extended, and the right spray arm 1 is slowly swung down. During the swinging process, the seabed mud and sand swept by the right spray arm 1 are flushed away by the high-pressure water, and the right spray arm 1 is extended into the soil, and a groove is formed on the seabed mud surface. The left spray arm swing cylinder 13 is slowly extended, and the left spray arm 16 is slowly swung down. The seabed mud and sand swept by the left spray arm 16 are flushed away by the high-pressure water, and the left spray arm 16 is extended into the soil, and a groove is formed on the seabed mud surface. Due to the limited distance between the two spray arms, the grooves formed below the two spray arms will be connected as one.

[0068] The surface covering of the buried cables will be cleaned by high-pressure water jets, and the cables will be directly exposed to the water, providing an open space for close-up operations such as cable inspection, exploration and disposal.

[0069] As the crawler ROV continues to crawl forward, the right spray arm swing cylinder 4 and the left spray arm swing cylinder 13 are stably stressed, and their extended displacement remains unchanged, forming a stable concave groove in the forward direction of the crawler ROV. When there is a buried cable in the forward direction, if the cable direction is perpendicular to the heading of the crawler ROV, the right spray arm 1 and the left spray arm 16 will be simultaneously subject to the forward resistance from the cable, and the component force of the resistance will act on the rodless chamber of the right spray arm swing cylinder 4 and the left spray arm swing cylinder 13. Under the protection of the overflow valve, the right spray arm swing cylinder 4 and the left spray arm swing cylinder 13 are synchronously passively retracted. At the same time, the right spray arm 1 and the left spray arm 16 will be passively lifted. As the crawler ROV continues to crawl forward, the displacement of the right spray arm swing cylinder 4 and the left spray arm swing cylinder 13 continues to decrease until the end point of the spray arm 1 and the left spray arm 16 coincides with the highest point of the buried cable, and the cylinder displacement reaches the minimum. Afterwards, due to the elastic effect of the hydraulic oil and the gravity of the spray arm itself and other factors, the right spray arm 1 and the left spray arm 16 will swing down again, and the displacement of the right spray arm swing cylinder 4 and the left spray arm swing cylinder 13 will increase again. By detecting the displacement values ​​of the right spray arm swing cylinder 4 and the left spray arm swing cylinder 13, the reader displacement decreases from a constant to a continuously increasing minimum value point, and it is believed that this minimum value point corresponds to the moment when the end point of the spray arm coincides with the highest point of the cable.

[0070] The buried depth of the cable can be detected by using geometric relationships. The geometric relationship diagram is as follows: Figure 5 As shown, the calculation method is as follows:

[0071] like Figure 5As shown, point O1 is the hinge point between the spray arm cylinder and the base, point O2 is the hinge point between the spray arm and the base 7, point O3 is the hinge point between the spray arm cylinder and the swing arm, point A is the end point of the spray arm, O2A is the spray arm, and O1O3 is the length of the cylinder. The position shown in the figure is the critical point where the spray arm is about to cross the cable, at which time the end point A of the spray arm coincides with the highest point on the cable.

[0072] In △O1O2O3, according to the cosine theorem, we have:

[0073] O1O3 2 =O1O2 2 +O2O3 2 -2O1O2×O2O3cos∠O1O2O3

[0074] ∠CO2A=∠O1O2O3-∠O1O2C-∠AO2O3

[0075] It is also known that ∠O1O2C and ∠AO2O3 are constants related to the geometric shape of the mechanism.

[0076] So, we have:

[0077]

[0078] In △CO2A,

[0079]

[0080] in:

[0081] A: The end point of the spray arm, which is also the highest point of the cable.

[0082] C: The projection point of the highest point A of the cable on the horizontal plane passing through point O2.

[0083] B: The intersection of the seabed mud surface and AC.

[0084] It is also known that O2A is the length of the spray arm and CB is the height of the spray arm hinge installation from the mud surface.

[0085] Then the cable burial depth can be obtained:

[0086] AB=AC-CB

[0087] in:

[0088] B: The vertical height of the highest point of the cable from the mud surface is the buried depth of the cable.

[0089] AC: The vertical height of the highest point of the cable from point O2.

[0090] CB: The vertical height of point O2 from the mud surface.

[0091] Combining the above equations, we can get:

[0092]

[0093] In the above formula, only O1O3 is a variable, which is the length of the spray swing arm cylinder. It is known that the installation distance of the cylinder is L, in mm, and the piston displacement is x A , then:

[0094] O1O3=L+x A

[0095] in:

[0096] O1: The hinge point between the spray swing arm cylinder and the base;

[0097] O3: The hinge point between the spray swing arm cylinder and the swing arm;

[0098] O1O3: The distance between the hinge points at both ends of the spray swing arm cylinder, that is, the length of the cylinder.

[0099] Substituting it into the above formula, we get:

[0100]

[0101] in:

[0102] O2A: The length of the jet swing arm;

[0103] O1O2: the distance from the hinge point O1 between the spray arm cylinder and the base to the hinge point O2 between the spray arm and the base 7;

[0104] O2O3: is the distance from the hinge point O2 between the spray arm and the base 7 to the hinge point O3 between the spray swing arm cylinder and the swing arm.

[0105] When the cable direction is not perpendicular to the heading of the crawler ROV, since the two spray arms can swing independently, as mentioned above, the passive lifting of the two spray arms will have a sequence. Correspondingly, the moment when the end points of the two spray arms coincide with the highest point of the cable (i.e., the moment when the spray arms cross the cable) also has a sequence. Therefore, the difference in the navigation displacement of the crawler ROV during the time interval when the two spray arms cross the cable can be used to infer the angle between the navigation direction of the crawler ROV and the cable through geometric relationships.

[0106] Take the case where the left spray arm 16 first hits the cable as an example:

[0107] The left spray arm 16 will be subject to the forward resistance from the cable, and the component force of this resistance will act on the rodless chamber of the right spray arm swing cylinder 13. The left spray arm swing cylinder 13 is passively retracted under the protection of the overflow valve. At the same time, the left spray arm 16 will be passively lifted. As the crawler ROV continues to crawl forward, the displacement of the left spray arm swing cylinder 13 continues to decrease until the end point of the left spray arm 16 coincides with the highest point of the buried cable, and the cylinder displacement reaches the minimum. Afterwards, due to the elastic effect of the hydraulic oil and the gravity of the spray arm itself and other factors, the left spray arm 16 will swing down again, and the displacement of the left spray arm swing cylinder 13 will increase again. Read the minimum point where its displacement decreases from constant to continuously increasing, and record the displacement of the crawler ROV at this moment as x1. As the crawler ROV continues to crawl forward, the right spray arm 1 will also hit the cable and be subject to the forward resistance from the cable. The component force of this resistance will act on the rodless chamber of the right spray arm swing cylinder 4. Under the protection of the overflow valve, the right spray arm swing cylinder 4 is passively retracted. At the same time, the right spray arm 1 will be passively lifted. As the ROV continues to crawl forward, the displacement of the right spray arm swing cylinder 4 continues to decrease until the end point of the right spray arm 1 coincides with the highest point of the buried cable, and the cylinder displacement reaches the minimum. Afterwards, due to the elastic effect of the hydraulic oil and the gravity of the spray arm itself, the right spray arm 1 will swing down again, and the displacement of the right spray arm swing cylinder 4 will increase again. Read the minimum point where its displacement decreases from constant to increasing, and record the displacement of the ROV at this moment as x2.

[0108] like Figure 6 As shown, the shaded part is the cable, and the two boxes represent two spray arms. Point A1 and point A2 are two points on the cable, representing the highest point on the cable when the ends of the left spray arm 16 and the right spray arm 1 contact the cable (when the spray arm crosses the cable).

[0109] like Figure 7 and Figure 8 As shown, O2 and O4 respectively represent the center position of the swing axis 6 of the spray arm when the left spray arm 16 passes over the cable and the center position of the swing axis 6 of the spray arm when the right spray arm 1 passes over the cable. The moment when the spray arm passes over the cable is defined as the moment when the end point of the spray arm coincides with the highest point on the cable, at which time the displacement of the spray arm cylinder is the smallest.

[0110] O2A1 and O2A3 represent the left spray arm 16 and the right spray arm 1, respectively. After the crawler ROV sails for a period of time, O2A1 moves to O4A4 and O2A3 moves to O4A2. The positions shown in the figure correspond to the critical points where the left spray arm 16 is about to cross the cable and the critical points where the right spray arm 1 is about to cross the cable.

[0111] Circle O5 is the cross section of the left spray arm 16 that first crosses the cable and contacts the cable, and circle O6 is the cross section of the right spray arm 1 that crosses the cable later and contacts the cable. As can be seen from the figure, O2O4 is the forward displacement of the spray arm rotation main shaft 6 during the time interval when the two spray arms successively cross the cable, that is, the navigation displacement of the crawler ROV. O5O6 is the projection length of the cable segment within the distance between the two spray arms in the forward direction of the crawler ROV. Point A1 is A1 / The projection point of the tracked ROV along the lateral direction of the tracked ROV on the ROV longitudinal section passing through point A2.

[0112] And the quadrilateral A1A2O4O2 is a parallelogram, so:

[0113] A1A2=O2O4

[0114] Figure 6 A1A2 in corresponds to Figure 7 A1A2 is the cable segment A1 / The projection of A2 in the ROV navigation direction. / In A1 and A2:

[0115]

[0116] in:

[0117] A1 / : is a point on the cable, indicating the highest point on the cable when the end of the left spray arm 16 contacts the cable;

[0118] A2: It is a point on the cable, indicating the highest point on the cable when the end of the right spray arm 1 contacts the cable, and also indicates the end point of the spray arm when the right spray arm 1 passes over the cable;

[0119] A1: indicates A1 / The projection point on the ROV longitudinal section passing through point A2 along the lateral direction of the crawler ROV;

[0120] A1A1 / : The sum of the internal distance between the two spray arms and the width of the spray arms.

[0121] It is also known that A1A1 / It is the sum of the internal distance between the two spray arms and the width of the spray arms, and is a constant in the mechanism design.

[0122] Then, the cable azimuth angle is:

[0123]

[0124] in:

[0125] O2O4: is the forward displacement of the spray arm rotation main shaft 6 during the time interval when the two spray arms successively cross the cable, that is, the navigation displacement of the crawler ROV.

[0126] In actual operation, when the left spray arm (16) crosses the cable (using the method described in the previous section to find this moment), the crawler ROV displacement value x1 at this moment is recorded. The crawler ROV continues to move forward, and the same method is used to find the moment when the right spray arm 1 crosses the cable, and the crawler ROV displacement x2 at this moment is recorded. Then: O2O4 = x2-x1.

[0127] Substituting it into the above cable buried azimuth angle calculation formula, the cable buried angle can be obtained. Combined with the left spray arm first hitting the cable, this angle is the acute angle between the cable direction and the cross section of the crawler ROV, extending from the left rear to the right front.

[0128] If the right spray arm hits the cable first, the same method can be used for calculation. At this time, O2O4 is a negative value, and the angle value is also a negative value. Take the absolute value of the angle. Combined with the fact that the right spray arm hits the cable first, the angle immediately represents the acute angle between the cable direction and the cross section of the crawler ROV, and the extension direction is from the right rear to the left front.

[0129] After measuring and calculating the angle, the burial azimuth angle of the buried cable can be obtained by summing and converting it through the compass carried by the crawler ROV.

[0130] The above description is an explanation of the present invention, not a limitation of the present invention. The scope of the present invention is defined in the claims. Any form of modification may be made within the scope of protection of the present invention.

Claims

1. A soil cleaning tool for buried submarine cables, characterized in that: comprising a base (7), The structure of the base (7) is as follows: it comprises a base body (701), a U-shaped opening (702) is provided in the middle of one end of the base body (701), a vertical plate (703) is provided on the bottom surface of the other end of the base body (701), a spaced spindle mounting seat (704) is provided on one side of the vertical plate (703), and a spindle (6) is supported and mounted between the two spindle mounting seats (704); A support frame (17) is fixed on the base body (701) at the U-shaped opening (702), and a high-pressure water pump (10) is fixedly installed on the support frame (17). The high-pressure water pump (10) is driven by an underwater motor (8), and the output port of the high-pressure water pump (10) is provided with a right water outlet flange (9) and a left water outlet flange (11); A right spray arm (1) and a left spray arm (16) are mounted on the main shaft (6) and rotate around the main shaft (6). A right spray arm water inlet flange (2) is welded to the right spray arm (1), and a left spray arm water inlet flange (15) is welded to the left spray arm (16). The right spray arm water inlet flange (2) is connected to the right water outlet flange (9) of the water pump via a hose, and the left spray arm water inlet flange (15) is connected to the left water outlet flange (11) of the water pump via a hose. The bottoms of the right spray arm (1) and the left spray arm (16) are both provided with a plurality of small holes, which are outlets for high-pressure water. A right spray arm swing ear plate (3) is arranged on the outer side of the head of the right spray arm (1), a right spray arm oil cylinder mounting seat (5) is arranged at the bottom of the base body (701), a right spray arm swing oil cylinder (4) is mounted on the right spray arm oil cylinder mounting seat (5), an output end of the right spray arm swing oil cylinder (4) is connected to the right spray arm swing ear plate (3), a left spray arm swing ear plate (14) is arranged on the outer side of the head of the left spray arm (16), and a left spray arm oil cylinder mounting seat (12) is arranged at the bottom of the base body (701). A left spray arm swing cylinder (13) is installed on the left spray arm cylinder mounting seat (12), and the output end of the left spray arm swing cylinder (13) is connected to the left spray arm swing ear plate (14); displacement sensors are installed in the right spray arm swing cylinder (4) and the left spray arm swing cylinder (13); the soil covering cleaning tool uses the principle that when the spray arm is subjected to the resistance of the buried submarine cable, it is passively lifted, thereby causing the geometric parameters of the mechanism to change, and detects the buried cable depth parameters and buried cable azimuth angle parameters.

2. A soil covering and cleaning tool for buried submarine cables according to claim 1, characterized in that: The base (7) is an integrated structure.

3. A soil cleaning tool for buried submarine cables according to claim 1, characterized in that: A plurality of weight-reducing holes are provided on the base body (701) and the vertical plate (703) of the base (7).

4. A soil covering and cleaning tool for buried submarine cables according to claim 1, characterized in that: The base body (701) is a thin plate structure.

5. The soil covering and cleaning tool for buried submarine cables according to claim 1, characterized in that: The base body (701) is provided with a plurality of mounting holes and oblong holes.

6. A soil-covering and cleaning tool for buried submarine cables according to claim 1, characterized in that: A plurality of reinforcing plates (705) are arranged on the other side of the vertical plate (703).

7. A soil-covering and cleaning tool for buried submarine cables according to claim 1, characterized in that: The right spray arm (1) and the left spray arm (16) are both hollow structures, forming a high-pressure water flow channel inside.

8. The soil covering and cleaning tool for buried submarine cables according to claim 1, characterized in that: The right spray arm (1) and the left spray arm (16) are arranged in parallel with each other.

9. A method for detecting the buried depth and angle of a buried submarine cable using the soil cleaning tool of claim 1, characterized in that: The steps are as follows: Step 1: Preparation: near the target cable sea area, the base (7) is integrated and installed under the crawler ROV, and the crawler ROV crawls forward; Step 2: Start the underwater motor (8) to drive the high-pressure water pump (10) to pump out high-pressure water, which enters the right spray arm (1) and the left spray arm (16) through the hose, and sprays the high-pressure water through the small holes at the bottom of the right spray arm (1) and the left spray arm (16) to form a jet; Step 3: The right spray arm swing cylinder (4) works, and the piston rod of the right spray arm swing cylinder (4) slowly extends, driving the right spray arm (1) to slowly swing downward. During the downward swing, the seabed mud and sand swept by the right spray arm (1) are washed away by high-pressure water, and the right spray arm (1) extends into the mud, forming a groove on the seabed mud surface; Step 4: The left spray arm swing cylinder (13) works, the piston rod of the left spray arm swing cylinder (13) slowly extends, and the left spray arm (16) slowly swings down. During the swinging process, the seabed mud and sand swept by the left spray arm (16) are washed away by high-pressure water, and the left spray arm (16) extends into the mud, forming a groove on the seabed mud surface; Step 5: The grooves formed in the third and fourth steps are connected as one; Step 6: The surface soil covering the buried cables will be cleaned by high-pressure water jets, and the cables will be directly exposed to the water, providing an open space for cable inspection, exploration and disposal.

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