A method and system for determining the attitude of the plowshare based on the embedment of induction coils

Abstract

This invention relates to the field of submarine cable laying technology, specifically disclosing a method and system for determining the attitude of a burial plow entry point based on induction coils. By setting an excitation coil, a first induction coil array, and a second induction coil array on three sides (top, front, and rear) of the submarine cable at the entry point, the excitation coil generates an alternating magnetic field under the excitation of a preset AC source. The metal medium in the submarine cable senses the alternating magnetic field and generates eddy currents, which in turn generate a reverse magnetic field. Furthermore, by detecting the induced electromotive force of the first and second induction coil arrays, the magnetic field strength of this reverse magnetic field on two mutually perpendicular planes is obtained. The three-dimensional attitude of the corresponding submarine cable segment is then determined based on the magnitude and distribution of the induced electromotive force. This method can be applied to seabeds in any water condition and has wide applicability.

Description

Technical Field

[0001] This invention relates to the field of submarine cable laying technology, and in particular to a method and system for determining the attitude of the burial plow entry into the plowshare based on an induction coil. Background Technology

[0002] Submarine power cable construction is a complex and large-scale project, subject to various constraints such as geographical conditions, marine environment, and construction equipment. The technology involved in submarine power cable construction is intricate and far more challenging than that of terrestrial cables. Precise control and close coordination are essential at every stage, from cable delivery and transshipment to underwater release and subsea burial. Failure to do so will compromise the quality of the construction and, in severe cases, may cause cable twisting or other damage, rendering the entire project impossible.

[0003] Obtaining the orientation of the burial plow at the cut edge is a crucial step in submarine cable laying operations, directly impacting the quality of the cable installation. Currently, monitoring cameras are commonly used to monitor the cable at the cut edge and capture the orientation of the burial plow. However, in murky waters with poor conditions, these cameras struggle to capture high-definition images, making it difficult to accurately determine the orientation of the burial plow. Summary of the Invention

[0004] This invention provides a method and system for determining the attitude of a buried plowshare based on an induction coil. The technical problem it solves is: how to obtain an accurate attitude of the plowshare in turbid seabed waters with poor conditions.

[0005] To solve the above technical problems, the present invention provides a method for determining the orientation of a buried plowshare based on an induction coil, comprising the following steps:

[0006] S1. An excitation coil, a first induction coil array, and a second induction coil array are installed on the plow inlet of the burial plow. The excitation coil, the first induction coil array, and the second induction coil array are located above, in front of, and behind the submarine cable at the plow inlet in any combination. The first induction coil array and the second induction coil array have the same parameters and are installed in symmetrical positions.

[0007] S2. Excite the excitation coil with a preset AC source;

[0008] S3. Measure the induced electromotive force of each induction coil in the first induction coil array and the second induction coil array;

[0009] S4. Determine the three-dimensional orientation of the submarine cable segment corresponding to the first induction coil array and the second induction coil array based on the induced electromotive force of each induction coil in the first induction coil array and the second induction coil array.

[0010] Preferably, in step S1, the excitation coil, the first induction coil array, and the second induction coil array are all planar coils, and the three are perpendicular to each other.

[0011] Preferably, both the first induction coil array and the second induction coil array include M rows and N columns of independently arranged induction coils; both the induction coils and the excitation coils are toroidal planar coils; the outer diameter of the induction coil is a, the distance between two adjacent induction coils is d, and the diameter of the submarine cable is D, wherein the design of a and d satisfies:

[0012]

[0013] Furthermore, step S4 specifically includes the following steps:

[0014] S41. For the first induction coil array, if a+d=D, execute step S42; if a+d=0.5D, execute step S43; if a+d=0.25D, execute step S44.

[0015] S42. Find the two induction coils with the highest induced electromotive force in each column, and denote their induced electromotive forces as V. 11 and V 12 According to V 11 V 12 The relative size relationship determines the center point of the submarine cable projection on the two induction coils; the center points of the submarine cable projection on the two induction coils in each column are combined and drawn into a smooth curve to obtain the two-dimensional attitude of the submarine cable projection on the first induction coil array.

[0016] S43. Find the three induction coils with the highest induced electromotive force in each column, and denote their induced electromotive forces as V. 21 V 22 V 23 According to V 21 V 22 V 23 The relative size relationship determines the center point of the submarine cable projection on the three induction coils; by combining the center points of the submarine cable projection on each of the three induction coils, a smooth curve is drawn to obtain the two-dimensional attitude of the submarine cable projection on the first induction coil array.

[0017] S44. Find the 5 induction coils with the highest induced electromotive force in each column, and record their induced electromotive forces as V. 31 V 32 V 33 V 34 V 35 According to V 31 V 32 V 33 V 34 V35 The relative size relationship determines the center point of the submarine cable projection on the five induction coils; by combining the center points of the submarine cable projection on each of the five induction coils, a smooth curve is drawn to obtain the attitude of the submarine cable projection on the first induction coil array.

[0018] S45. For the second induction coil array, following the same process as steps S41 to S44, obtain the two-dimensional attitude of the submarine cable projection on the second induction coil array.

[0019] S46. Combine the attitudes of the submarine cable projections onto the first induction coil array and the second induction coil array to determine the three-dimensional attitudes of the submarine cable segments corresponding to the first induction coil array and the second induction coil array.

[0020] Further, in step S42, according to V 11 V 12 The relative magnitude relationship with V1 determines the center point of the submarine cable projection onto the two induction coils, specifically including the following steps:

[0021] S421, Judgment Is it true? If so, then V 11 V 12 The center of the induction coil corresponding to the maximum value in the value is taken as the center point of the submarine cable projection onto the two induction coils; otherwise, proceed to the next step.

[0022] S422, V 11 V 12 The minimum value in is denoted as V. 1min V 1min The center of the corresponding induction coil is denoted as Q. 1min Let Q1 be the center of the other induction coil, and Q... 1min Let l1 be the distance between Q1 and Q1. Calculate the offset distance. From Q1 to Q 1min Offset l 1p The point is taken as the center point of the submarine cable projection on the two induction coils.

[0023] Further, in step S43, according to V 21 V 22 V 23 The relative size relationship is used to determine the center point of the submarine cable projection on the three induction coils, specifically including the following steps:

[0024] S431, V 21 V 22 V 23 The minimum value in is denoted as V. 2min ,judge Is it true? If so, then V2min The midpoint of the line connecting the centers of the other two induction coils is taken as the center point of the submarine cable projection onto the three induction coils; otherwise, proceed to the next step.

[0025] S432, Determine V 21 V 22 V 23 If there are two equal values, then the center of the induction coil corresponding to the third unequal value is taken as the center point of the submarine cable projection onto the three induction coils; otherwise, proceed to the next step.

[0026] S433, V 21 V 22 V 23 The maximum value in is denoted as V. 2st V 2st The center of the corresponding induction coil is denoted as Q. 2st The second largest value is denoted as V. 2ed V 2ed The center of the corresponding induction coil is denoted as Q. 2ed Calculate the offset distance From Q 2st To Q 2ed Offset l 2p The point is taken as the center point of the submarine cable projection on the three induction coils.

[0027] Further, in step S44, according to V 31 V 32 V 33 V 34 V 35 The relative size relationship is used to determine the center point of the submarine cable projection on the five induction coils, specifically including the following steps:

[0028] S441, V 31 V 32 V 33 V 34 V 35 The minimum value in is denoted as V. 3min ,judge Is it true? If so, then V 3min The midpoint of the line connecting the centers of the other four induction coils is used as the center point of the submarine cable projection onto the five induction coils; otherwise, proceed to the next step.

[0029] S442, Determine V 31 V 32 V 33 V 34 V 35If there are two sets of equal values, then take the center of the circle on the middle induction coil as the center point of the submarine cable projection on the five induction coils; otherwise, proceed to the next step.

[0030] S443, Remove V 31 V 32 V 33 V 34 V 35 If three values ​​are equal, the remaining two values ​​are denoted as V in descending order. 3st V 3ed V 3st The center of the corresponding induction coil is denoted as Q. 3st Let Q3 be the center of the induction coil at the very center position; calculate the offset distance. From Q3 to Q 3st Offset l 3p The point is taken as the center point of the submarine cable projection on the five induction coils.

[0031] The present invention also provides a system for determining the attitude of a buried plowshare based on an induction coil, the key features of which are: an excitation module, a first induction coil array, a second induction coil array, an electromotive force measurement module, and an attitude determination module; the excitation module includes an excitation coil and an excitation circuit connected to each other;

[0032] The excitation coil, the first induction coil array, and the second induction coil array are located above, in front of, and behind the submarine cable at the entry point of the plowshare, respectively, in any combination; the first induction coil array and the second induction coil array have the same parameters and are installed in symmetrical positions;

[0033] The excitation circuit is used to generate a preset AC source that acts on the excitation coil;

[0034] The electromotive force measurement module is used to measure the induced electromotive force of each induction coil in the first induction coil array and the second induction coil array.

[0035] The attitude determination module is used to determine the three-dimensional attitude of the submarine cable segment corresponding to the first induction coil array and the second induction coil array based on the induced electromotive force of each induction coil in the first induction coil array and the second induction coil array.

[0036] Preferably, the excitation coil, the first induction coil array, and the second induction coil array are all planar coils, and the three are perpendicular to each other; both the first induction coil array and the second induction coil array include M rows and N columns of independently arranged induction coils; both the induction coil and the excitation coil are toroidal planar coils; the outer diameter of the induction coil is a, the distance between two adjacent induction coils is d, and the diameter of the submarine cable is D, wherein the design of a and d satisfies:

[0037]

[0038] Preferably, the attitude determination module determines the three-dimensional attitude of the submarine cable segments corresponding to the first induction coil array and the second induction coil array according to steps S41 to S46 of the above method.

[0039] The present invention provides a method and system for determining the attitude of a buried cable entry point based on induction coils. By setting an excitation coil, a first induction coil array, and a second induction coil array on three sides (top, front, and rear) of the submarine cable at the entry point, the excitation coil generates an alternating magnetic field under the excitation of a preset AC source. The metal medium in the submarine cable senses the alternating magnetic field and generates eddy currents, which in turn generate a reverse magnetic field. The magnetic field strength of this reverse magnetic field on two mutually perpendicular planes is obtained by detecting the induced electromotive force of the first and second induction coil arrays. The three-dimensional attitude of the corresponding submarine cable segment is determined based on the magnitude and distribution of the induced electromotive force. This method can be applied to the seabed in any water condition and has wide applicability. Attached Figure Description

[0040] Figure 1 This is a flowchart of a method for determining the orientation of a buried plowshare based on an induction coil, provided in an embodiment of the present invention.

[0041] Figure 2 This is a structural diagram of the system for determining the attitude of a plowshare based on an induction coil, provided in an embodiment of the present invention. Detailed Implementation

[0042] The embodiments of the present invention are described in detail below with reference to the accompanying drawings. The embodiments are given for illustrative purposes only and should not be construed as limiting the present invention. The accompanying drawings are for reference and illustration only and do not constitute a limitation on the scope of patent protection of the present invention, because many changes can be made to the present invention without departing from the spirit and scope of the present invention.

[0043] This invention provides a method for determining the orientation of a buried plowshare based on an induction coil, the flowchart of which is shown below. Figure 1 As shown, the steps include:

[0044] S1. An excitation coil, a first induction coil array, and a second induction coil array are installed on the plow inlet of the burial plow. The excitation coil, the first induction coil array, and the second induction coil array are located above, in front of, and behind the submarine cable at the plow inlet in any combination. The parameters of the first induction coil array and the second induction coil array are the same and their installation positions are symmetrical.

[0045] S2. Excite the excitation coil with a preset AC source;

[0046] S3. Measure the induced electromotive force of each induction coil in the first induction coil array and the second induction coil array;

[0047] S4. Determine the three-dimensional orientation of the submarine cable segment corresponding to the first and second induction coil arrays based on the induced electromotive force of each induction coil in the first and second induction coil arrays.

[0048] In a preferred embodiment, as an example, in step S1, the excitation coil, the first induction coil array, and the second induction coil array are all planar coils, and the three are perpendicular to each other. The excitation coil, the first induction coil array, and the second induction coil array are respectively located on three-dimensional planes. The excitation coil is located in front of the submarine cable at the entry point, and the first and second induction coil arrays are located behind and above the submarine cable at the entry point, respectively. Both the first and second induction coil arrays include M rows and N columns of independently arranged induction coils; in this embodiment, it is set to 8 rows and 10 columns. Both the induction coils and the excitation coil are toroidal planar coils.

[0049] The outer diameter *a* of the induction coil and the distance *d* between two adjacent induction coils need to be designed based on the diameter *D* of the submarine cable. This facilitates the determination of the three-dimensional orientation of the submarine cable using different steps in step S4, thereby achieving higher accuracy. Specifically, the design of *a* and *d* satisfies:

[0050]

[0051] In other words, when the diameter of the submarine cable does not exceed 10cm, the minimum outer diameter 'a' of the induction coil is 0.8D, and the maximum 'd' is 0.2D. For example, when the diameter of the submarine cable is 8cm, 'a' can be set to 7cm, and 'd' to 1cm. When the diameter of the submarine cable is between 10cm and 30cm, the minimum outer diameter 'a' of the induction coil is 0.4D, and the maximum 'd' is 0.1D. For example, when the diameter of the submarine cable is 20cm, 'a' can be set to 8cm, and 'd' to 2cm. When the diameter of the submarine cable is between 10cm and 30cm, the minimum outer diameter 'a' of the induction coil is 0.2D, and the maximum 'd' is 0.05D. For example, when the diameter of the submarine cable is 40cm, 'a' can be set to 9cm, and 'd' to 2cm. Generally, 'a' can be set between 7 and 9cm, and 'd' between 1 and 2cm.

[0052] Other parameters of the induction coil (number of turns, wire diameter, wire selection, etc.), the setting of the excitation voltage source, and the installation positions of the excitation coil, the first induction coil array, and the second induction coil array must ensure that all induction coils within the projection range of the submarine cable can pick up a significant voltage, while induction coils outside the projection range cannot pick up a significant voltage.

[0053] Step S4 specifically includes the following steps:

[0054] S41. For the first induction coil array, if a+d=D, execute step S42; if a+d=0.5D, execute step S43; if a+d=0.25D, execute step S44.

[0055] S42. Find the two induction coils with the highest induced electromotive force in each column, and denote their induced electromotive forces as V. 11 and V 12 According to V 11 V 12 The relative size relationship determines the center point of the submarine cable projection on the two induction coils; by combining the center points of the submarine cable projection on the two induction coils in each column, a smooth curve is drawn to obtain the two-dimensional attitude of the submarine cable projection on the first induction coil array.

[0056] S43. Find the three induction coils with the highest induced electromotive force in each column, and denote their induced electromotive forces as V. 21 V 22 V 23 According to V 21 V 22 V 23 The relative size relationship determines the center point of the submarine cable projection on the three induction coils; by combining the center points of the submarine cable projection on each of the three induction coils, a smooth curve is drawn to obtain the two-dimensional attitude of the submarine cable projection on the first induction coil array.

[0057] S44. Find the 5 induction coils with the highest induced electromotive force in each column, and record their induced electromotive forces as V. 31 V 32 V 33 V 34 V 35 According to V 31 V 32 V 33 V 34 V 35 The relative size relationship determines the center point of the submarine cable projection on the five induction coils; by combining the center points of the submarine cable projection on each of the five induction coils, a smooth curve is drawn to obtain the attitude of the submarine cable projection on the first induction coil array.

[0058] S45. For the second induction coil array, following the same process as steps S41 to S44, obtain the two-dimensional attitude of the submarine cable projection on the second induction coil array.

[0059] S46. Combine the attitudes of the submarine cable projections onto the first and second induction coil arrays to determine the three-dimensional attitudes of the submarine cable segments corresponding to the first and second induction coil arrays.

[0060] In step S42, according to V 11 V 12 The relative magnitude relationship with V1 determines the center point of the submarine cable projection onto the two induction coils, specifically including the following steps:

[0061] S421, Judgment Is it true? If so, then V 11 V 12 The center of the induction coil corresponding to the maximum value in the value is taken as the center point of the submarine cable projection onto the two induction coils; otherwise, proceed to the next step.

[0062] S422, V 11 V 12 The minimum value in is denoted as V. 1min V 1min The center of the corresponding induction coil is denoted as Q. 1min Let Q1 be the center of the other induction coil, and Q... 1min Let l1 be the distance between Q1 and Q1. Calculate the offset distance. From Q1 to Q 1min Offset l 1p The point is taken as the center point of the submarine cable projection on the two induction coils.

[0063] The design of steps S421 to S423 can make the center point of the submarine cable projection on the induction coil more closely resemble the actual center point.

[0064] In step S43, according to V 21 V 22 V 23 The relative size relationship is used to determine the center point of the submarine cable projection on the three induction coils, specifically including the following steps:

[0065] S431, V 21 V 22 V 23 The minimum value in is denoted as V. 2min ,judge Is it true? If so, then V 2min The midpoint of the line connecting the centers of the other two induction coils is taken as the center point of the submarine cable projection onto the three induction coils; otherwise, proceed to the next step.

[0066] S432, Determine V 21 V 22 V 23 If there are two equal values, then the center of the induction coil corresponding to the third unequal value is taken as the center point of the submarine cable projection onto the three induction coils; otherwise, proceed to the next step.

[0067] S433, V 21 V 22 V 23 The maximum value in is denoted as V. 2st V 2st The center of the corresponding induction coil is denoted as Q. 2st The second largest value is denoted as V. 2ed V 2ed The center of the corresponding induction coil is denoted as Q. 2ed Calculate the offset distance From Q 2st To Q 2ed Offset l 2p The point is taken as the center point of the submarine cable projection on the three induction coils.

[0068] The design of steps S431 to S433 can make the center point of the submarine cable projection on the induction coil more closely resemble the actual center point.

[0069] In step S44, according to V 31 V 32 V 33 V 34 V 35 The relative size relationship is used to determine the center point of the submarine cable projection on the five induction coils, specifically including the following steps:

[0070] S441, V 31 V 32 V 33 V 34 V 35 The minimum value in is denoted as V. 3min ,judge Is it true? If so, then V 3min The midpoint of the line connecting the centers of the other four induction coils is used as the center point of the submarine cable projection onto the five induction coils; otherwise, proceed to the next step.

[0071] S442, Determine V 31 V 32 V 33 V 34 V 35If there are two sets of equal values, then take the center of the circle on the middle induction coil as the center point of the submarine cable projection on the five induction coils; otherwise, proceed to the next step.

[0072] S443, Remove V 31 V 32 V 33 V 34 V 35 If three values ​​are equal, the remaining two values ​​are denoted as V in descending order. 3st V 3ed V 3st The center of the corresponding induction coil is denoted as Q. 3st Let Q3 be the center of the induction coil at the very center position; calculate the offset distance. From Q3 to Q 3st Offset l 3p The point is taken as the center point of the submarine cable projection on the five induction coils.

[0073] The design of steps S441 to S443 can make the center point of the submarine cable projection on the induction coil more closely resemble the actual center point.

[0074] This invention designs different center point determination steps for cables of different diameters, so that the center point of the submarine cable projected onto the induction coil is closer to the actual center point.

[0075] After obtaining the center points of the submarine cable projection on the first and second induction coil arrays, the center points corresponding to the first induction coil array are connected to obtain a smooth curve, and the center points corresponding to the second induction coil array are connected to obtain another smooth curve. By restoring the two smooth curves in three-dimensional space, a smooth three-dimensional curve can be obtained. Then, by introducing the diameter parameter of the submarine cable, the three-dimensional attitude of the corresponding submarine cable segment can be generated.

[0076] After obtaining the three-dimensional attitude of the burial plow at the burial plow inlet, the three-dimensional attitude of the entire submarine cable can be obtained by combining the three-dimensional attitude of the cable entry section, the horizontal distance between the cable ship and the burial plow, and the distance from the cable ship exit to the seabed.

[0077] To facilitate the implementation of the above method, embodiments of the present invention also provide a system for determining the attitude of a buried plowshare based on an induction coil, such as... Figure 2 As shown in the structural diagram, the system includes an excitation module, a first induction coil array, a second induction coil array, an electromotive force measurement module, and an attitude determination module; the excitation module includes interconnected excitation coils and an excitation circuit.

[0078] The excitation coil, the first induction coil array, and the second induction coil array are located above, in front of, and behind the submarine cable at the entry point of the ploughing, respectively, in any combination; the parameters of the first induction coil array and the second induction coil array are the same and their installation positions are symmetrical.

[0079] The excitation circuit is used to generate a preset AC source that acts on the excitation coil.

[0080] The electromotive force measurement module is used to measure the induced electromotive force of each induction coil in the first and second induction coil arrays.

[0081] The attitude determination module is used to determine the three-dimensional attitude of the submarine cable segment corresponding to the first and second induction coil arrays based on the induced electromotive force of each induction coil in the first and second induction coil arrays.

[0082] The specific configuration of the excitation coil, the first induction coil array, and the second induction coil array, all of which are planar coils, has been explained in the above method and will not be repeated here. The attitude determination module determines the three-dimensional attitude of the submarine cable segment corresponding to the first and second induction coil arrays according to steps S41 to S46 in the method.

[0083] It should be emphasized that the electromotive force measurement module is installed on the laying plow, and the attitude determination module is installed on the cable laying vessel. The induced electromotive force measured by the electromotive force measurement module is transmitted to the attitude determination module through a signal cable. The attitude determination module can be the controller of the cable laying vessel, and no separate hardware structure needs to be designed.

[0084] In summary, the present invention provides a method and system for determining the attitude of a buried cable entry point based on induction coils. By setting an excitation coil, a first induction coil array, and a second induction coil array on three sides (top, front, and rear) of the submarine cable at the entry point, the excitation coil generates an alternating magnetic field under the excitation of a preset AC source. The metal medium in the submarine cable senses the alternating magnetic field and generates eddy currents, which in turn generate a reverse magnetic field. Furthermore, by detecting the induced electromotive force of the first and second induction coil arrays, the magnetic field strength of this reverse magnetic field on two mutually perpendicular planes is obtained. The three-dimensional attitude of the corresponding submarine cable segment is determined based on the magnitude and distribution of the induced electromotive force. This method can be applied to the seabed in any water condition and has wide applicability.

[0085] The above embodiments are preferred embodiments of the present invention, but the embodiments of the present invention are not limited to the above embodiments. Any changes, modifications, substitutions, combinations, or simplifications made without departing from the spirit and principle of the present invention shall be considered equivalent substitutions and shall be included within the protection scope of the present invention.

Claims

1. A method for determining the orientation of a buried plowshare based on an induction coil, characterized in that, Including the following steps: S1. An excitation coil, a first induction coil array, and a second induction coil array are installed on the plowshare. The excitation coil, the first induction coil array, and the second induction coil array are located above, in front of, and behind the submarine cable at the plowshare, respectively, in any combination. The first induction coil array and the second induction coil array have the same parameters and are installed symmetrically. The excitation coil, the first induction coil array, and the second induction coil array are all planar coils and are perpendicular to each other. The first induction coil array and the second induction coil array each include M rows and N columns of independently arranged induction coils. Both the induction coils and the excitation coil are toroidal planar coils. The outer diameter of the induction coil is a The distance between two adjacent induction coils is d The diameter of the submarine cable is D , a , d The design meets the following requirements: ； S2. Excite the excitation coil with a preset AC source; S3. Measure the induced electromotive force of each induction coil in the first induction coil array and the second induction coil array; S4. Determine the three-dimensional orientation of the submarine cable segment corresponding to the first induction coil array and the second induction coil array based on the induced electromotive force of each induction coil in the first induction coil array and the second induction coil array. Step S4 specifically includes the following steps: S41. For the first induction coil array, if a + d = D Execute step S42, if a + d =0.5 D Execute step S43, if a + d =0.25 D Execute step S44; S42. Find the two induction coils with the highest induced electromotive force in each column, and denote their induced electromotive forces as follows: V 11 and V 12 ;according to V 11 , V 12 The relative size relationship determines the center point of the submarine cable projection on the two induction coils; the center points of the submarine cable projection on the two induction coils in each column are combined and drawn into a smooth curve to obtain the two-dimensional attitude of the submarine cable projection on the first induction coil array. S43. Find the three induction coils with the highest induced electromotive force in each column, and denote their induced electromotive forces as follows: V 21 , V 22 , V 23 ;according to V 21 , V 22 , V 23 The relative size relationship determines the center point of the submarine cable projection on the three induction coils; by combining the center points of the submarine cable projection on each of the three induction coils, a smooth curve is drawn to obtain the two-dimensional attitude of the submarine cable projection on the first induction coil array. S44. Find the five induction coils with the highest induced electromotive force in each column, and denote their induced electromotive forces as follows: V 31 , V 32 , V 33 , V 34 , V 35 ;according to V 31 , V 32 , V 33 , V 34 , V 35 The relative size relationship determines the center point of the submarine cable projection on the five induction coils; by combining the center points of the submarine cable projection on each of the five induction coils, a smooth curve is drawn to obtain the attitude of the submarine cable projection on the first induction coil array. S45. For the second induction coil array, following the same process as steps S41 to S44, obtain the two-dimensional attitude of the submarine cable projection on the second induction coil array. S46. Combine the attitudes of the submarine cable projections onto the first induction coil array and the second induction coil array to determine the three-dimensional attitudes of the submarine cable segments corresponding to the first induction coil array and the second induction coil array.

2. The method for determining the orientation of a buried plowshare based on an induction coil according to claim 1, characterized in that, In step S42, according to V 11 , V 12 and V The relative magnitudes of 1 determine the center point of the submarine cable projection onto the two induction coils, specifically including the following steps: S421, Judgment Is it true? If so, then... V 11 , V 12 The center of the induction coil corresponding to the maximum value in the value is taken as the center point of the submarine cable projection onto the two induction coils; otherwise, proceed to the next step. S422, will V 11 , V 12 The minimum value in is denoted as V 1min ,Will V 1min The center of the corresponding induction coil is denoted as Q. 1min Let Q1 be the center of the other induction coil, and Q... 1min The distance between Q1 and Q1 is l 1. Calculate the offset distance It will move from Q1 to Q 1min Offset l 1p The point is taken as the center point of the submarine cable projection on the two induction coils.

3. The method for determining the orientation of a buried plowshare based on an induction coil according to claim 1, characterized in that, In step S43, according to V 21 , V 22 , V 23 The relative size relationship is used to determine the center point of the submarine cable projection on the three induction coils, specifically including the following steps: S431, will V 21 , V 22 , V 23 The minimum value in is denoted as V 2min ,judge Is it true? If so, then... V 2min The midpoint of the line connecting the centers of the other two induction coils is taken as the center point of the submarine cable projection onto the three induction coils; otherwise, proceed to the next step. S432, Judgment V 21 , V 22 , V 23 If there are two equal values, then the center of the induction coil corresponding to the third unequal value is taken as the center point of the submarine cable projection onto the three induction coils; otherwise, proceed to the next step. S433, will V 21 , V 22 , V 23 The maximum value in is denoted as V 2st , V 2st The center of the corresponding induction coil is denoted as Q 2st The second largest value is denoted as V 2ed , V 2ed The center of the corresponding induction coil is denoted as Q 2ed Calculate the offset distance From Q 2st Towards Q 2ed Offset l 1p The point is taken as the center point of the submarine cable projection on the three induction coils.

4. The method for determining the orientation of a buried plowshare based on an induction coil according to claim 1, characterized in that, In step S44, according to V 31 , V 32 , V 33 , V 34 , V 35 The relative size relationship is used to determine the center point of the submarine cable projection on the five induction coils, specifically including the following steps: S441, will V 31 , V 32 , V 33 , V 34 , V 35 The minimum value in is denoted as V 3min ,judge Is it true? If so, then... V 3min The midpoint of the line connecting the centers of the other four induction coils is taken as the center point of the submarine cable projection onto the five induction coils; otherwise, proceed to the next step. S442, Judgment V 31 , V 32 , V 33 , V 34 , V 35 If there are two sets of equal values, then take the center of the circle on the middle induction coil as the center point of the submarine cable projection on the five induction coils; otherwise, proceed to the next step. S443, Remove V 31 , V 32 , V 33 , V 34 , V 35 Three equal values, the remaining two values ​​are denoted as follows, arranged from largest to smallest: V 3st , V 3ed ,Will V 3st The center of the corresponding induction coil is denoted as Q 3st Let the center of the induction coil at the very center be denoted as Q 3; Calculate the offset distance From Q 3 directions Q 3st Offset l 3p The point is taken as the center point of the submarine cable projection on the five induction coils.

5. A system for determining the attitude of a plow entering the plowshare based on an induction coil, characterized in that: It includes an excitation module, a first induction coil array, a second induction coil array, an electromotive force measurement module, and an attitude determination module; the excitation module includes excitation coils and an excitation circuit connected to each other; The excitation coil, the first induction coil array, and the second induction coil array are located above, in front of, and behind the submarine cable at the entry point of the plowshare, respectively, in any combination; the first induction coil array and the second induction coil array have the same parameters and are installed in symmetrical positions; The excitation circuit is used to generate a preset AC source that acts on the excitation coil; The electromotive force measurement module is used to measure the induced electromotive force of each induction coil in the first induction coil array and the second induction coil array. The attitude determination module is used to determine the three-dimensional attitude of the submarine cable segment corresponding to the first induction coil array and the second induction coil array based on the induced electromotive force of each induction coil in the first induction coil array and the second induction coil array. The attitude determination module determines the three-dimensional attitude of the submarine cable segments corresponding to the first induction coil array and the second induction coil array according to steps S41 to S46 of the induction coil-based burial plowing mouth attitude determination method according to any one of claims 1 to 4.

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