Subsea trenching device and method

Abstract

The present invention provides a submarine trenching device and method, the submarine trenching device includes a main frame, an operation unit and an operation auxiliary unit, the main frame is provided with a sling connection device for connecting with the lifting equipment of a mother ship so that the submarine trenching device is in a suspended state during the operation; the operation unit and the operation auxiliary unit are both connected to the main frame, and are respectively connected to the control system signal of the mother ship; the operation unit is used to spray water jets to the seabed, and the operation auxiliary unit is used to obtain auxiliary operation information and send it to the control system; the mother ship is also used to provide power and power source to the operation unit and the operation auxiliary unit. The device of the present invention can implement trenching operations in suspended movement with the help of the navigation ability and lifting function of the mother ship, and will not be restricted by the shallow depth of offshore waters and the soft seabed geology to smooth movement. At the same time, the suspension movement can be achieved through the mother ship, which simplifies the structure of the device of the present invention and can reduce its research and development and manufacturing costs.

Description

Technical Field

[0001] The present invention relates to the technical field of submarine trenching operations, and in particular to a submarine trenching device and method. Background Art

[0002] In order to put the current offshore wind power generation equipment into operation as soon as possible, the transmission cables are usually laid first, and then the transmission cables are buried. The burial operation is usually completed by deep-sea trenchers, cable laying machines, etc.

[0003] The laying of cables on the seabed is affected by ocean currents, making the cables non-straight on the seabed. The operating equipment needs to be able to move flexibly, and some cables are located in offshore areas. Since the seabed in offshore areas is mostly silt, its surface pressure is low and cannot withstand the existing crawler trenchers. At the same time, the seawater in offshore areas is shallow and cannot support the smooth navigation of ROV trenchers. It is not suitable for the use of ROV trenchers, which makes the cable burying operations in the offshore section not well suited to crawler trenchers, ROV trenchers and other operating equipment and cannot be carried out smoothly and efficiently. Summary of the invention

[0004] In view of this, the object of the present invention is to provide a submarine trenching device and method to solve the problem that the above-mentioned offshore cable burying operation cannot be well applied to crawler trenchers, ROV trenchers and other operating equipment and cannot be carried out smoothly and efficiently.

[0005] In order to solve the above technical problems, the technical solution used in the present invention is:

[0006] A submarine trenching device according to the present invention comprises a main frame, an operation unit and an operation auxiliary unit, wherein the main frame is provided with a sling connection device, and the sling connection device is used to connect with the slinging equipment of the mother ship so that the submarine trenching device is in a suspended state during the operation process;

[0007] The operation unit and the operation auxiliary unit are both connected to the main frame, and the operation unit and the operation auxiliary unit are respectively connected to the control system signal of the mother ship; the operation unit is used to spray water jets to the seabed, and the operation auxiliary unit is used to obtain auxiliary operation information and send it to the control system;

[0008] The mother ship is also used to provide power and power source to the working unit and the working auxiliary unit; alternatively, the main frame is also provided with a hydraulic power unit, the working unit and the working auxiliary unit are both connected to the hydraulic power unit, and the mother ship is used to provide power to the working unit and the working auxiliary unit.

[0009] Preferably, the operating unit comprises a water pump and a nozzle connected to the water pump, and the water pump and the nozzle are both connected to the main frame;

[0010] Alternatively, the operation unit includes a water pump and a jet knife connected to the water pump, and the water pump and the jet knife are respectively connected to the main frame.

[0011] Further preferably, a one-way valve is provided between the water pump and the nozzle or the jet knife;

[0012] And / or, the geometric center of the water jet of the nozzle or the jet knife is symmetrically arranged with the vertical plane where the center of gravity of the seabed trenching device is located as the center;

[0013] And / or, the water spray port of the spray pipe is located below the water pump.

[0014] Further preferably, the nozzle comprises a first nozzle and a second nozzle, one end of the first nozzle and the second nozzle are both connected to the water outlet of the water pump, and the other ends of the first nozzle and the second nozzle are respectively located on both sides of the water pump;

[0015] Alternatively, the jet knife includes a first jet knife and a second jet knife, the first jet knife and the second jet knife are respectively located on both sides of the water pump, and the water inlet ends of the first jet knife and the second jet knife are connected to the water outlet end of the water pump.

[0016] Further preferably, the water pump is a multi-stage pump, the main frame is provided with an adjusting component located below the water pump, and the bottom side of the water pump abuts against the adjusting component.

[0017] Preferably, the operation auxiliary unit comprises an electric control box, a first position monitoring component, an imaging device and a second position monitoring component, all of which are connected to the main frame; the first position monitoring component, the imaging device and the second position monitoring component are respectively electrically connected to the electric control box and connected to the control system signal of the mother ship; the electric control box is also used to be electrically connected to the power supply of the mother ship;

[0018] The first position monitoring component is used to monitor the position information of the submarine trenching device in water and send the position information to the control system;

[0019] The second position monitoring component is used to monitor the position information of the target submarine cable of the trenching operation and send the position information to the control system;

[0020] The imaging device is used to obtain image information of the target submarine cable and send the image information to the control system.

[0021] Further preferably, the first position monitoring assembly comprises a height gauge, an altimeter and an ultra-short baseline positioning device respectively connected to the main frame, the height gauge is used to monitor the distance data between the submarine trenching device and the seabed, the altimeter is used to monitor the distance data between the submarine trenching device and the sea surface, and the ultra-short baseline positioning device is used to monitor the relative position data between the submarine trenching device and the mother ship;

[0022] The altimeter, height meter and ultra-short baseline positioning device are all electrically connected to the electric control box and connected to the control system by signal, and each sends the monitored data to the control system;

[0023] And / or, the second position monitoring component is a TSS350 cable detection system connected to the main frame, and the TSS350 cable detection system sends the acquired target submarine cable information to the control system.

[0024] Further preferably, the operation auxiliary unit also includes a thruster connected to the main frame, and the thruster is used to provide thrust for adjusting the posture of the seabed trenching device.

[0025] Further preferably, the operation auxiliary unit further includes a compensator connected to the main frame, and the driving oil circuits of the hydraulic drive components in the operation unit and the operation auxiliary unit are respectively connected to the compensator.

[0026] Another object of the present invention is to provide a submarine trenching method, based on the above-mentioned submarine trenching device, comprising:

[0027] Connect the power supply and power source of the operation unit and the operation auxiliary unit, and use the lifting equipment of the mother ship to lift the seabed trenching device into the seawater;

[0028] The operation auxiliary unit is started, and according to the auxiliary operation information received by the control system of the mother ship, the seabed trenching device is suspended above the target submarine cable. When the seabed trenching device is located at a preset operation height above the target submarine cable, the operation unit is started to perform trenching operations, and the navigation of the mother ship and the operation of the hanging equipment are controlled according to the auxiliary operation information.

[0029] Compared with the prior art, the beneficial effects of the submarine trenching device described in the present invention are mainly reflected in:

[0030] The present invention integrates the operation unit and the operation auxiliary unit on the main frame, and the sling connection device is arranged on the main frame, so that the submarine trenching device of the present invention can implement trenching operations in suspended movement with the help of the navigation ability and lifting function of the mother ship, so it will not be restricted by the shallow water depth of the offshore waters and the soft seabed geology, and can efficiently implement trenching operations in offshore waters, which can solve the problem that the offshore cable burying operations cannot be well applied to crawler trenchers, ROV trenchers and other operating equipment and cannot be carried out smoothly and efficiently;

[0031] At the same time, by using the mother ship to achieve suspended movement, the power equipment required for autonomous navigation can be omitted, and the structural composition of the submarine trenching device of the present invention is simplified, which can reduce its research and development and manufacturing costs; and the power supply and power source of the operating unit and the operating auxiliary unit can both come from the mother ship or the main frame is provided with a hydraulic power unit to provide a power source for the operating unit and the operating auxiliary unit, and only the power supply needs to be taken from the mother ship, which also greatly reduces the comprehensive cost of the submarine trenching device of the present invention and has good economy.

[0032] Compared with the prior art, the beneficial effects of the submarine trenching method described in the present invention are mainly reflected in:

[0033] The trenching operation method of the present invention adopts the above-mentioned seabed trenching device, and the seabed trenching device can be suspended in the seawater by the mother ship to perform trenching operations, thereby avoiding the limitations of the depth of the near-shore water and the softness of the seabed geology, and ensuring that the seabed trenching device can operate smoothly and efficiently, and the operation method is simple, and it also has the beneficial effects of the above-mentioned seabed trenching device. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] The above and other purposes, features and advantages of the present invention will become more clear by more specific description of the preferred embodiments of the present invention shown in the accompanying drawings. The same reference numerals indicate the same parts in all the accompanying drawings, and the accompanying drawings are not deliberately scaled to the actual size, and the focus is on illustrating the main purpose of the present invention.

[0035] Figure 1 A schematic diagram of the operating state of a submarine trenching device provided by an embodiment of the present invention;

[0036] Figure 2 A schematic diagram of the three-dimensional structure of a submarine trenching device provided by an embodiment of the present invention;

[0037] Figure 3 for Figure 1 A front view of the mid-seabed trenching device;

[0038] Figure 4 for Figure 1 A top view of the mid-seabed trenching device;

[0039] Description of the drawings: Subsea trenching device 100, mother ship 200, hoisting equipment 300,

[0040] Main frame 1, lifting ear 2, water pump 3, first nozzle 4, second nozzle 5, one-way valve 6, U-shaped pipe clamp 7, flange 8, base 9, adjustment pad 10, electric control box 11, imaging device 12, altimeter 13, height meter 14, ultra-short baseline positioning device 15, TSS350 cable detection system 16, thruster 17, compensator 18. DETAILED DESCRIPTION

[0041] The technical solution of the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments, so that those skilled in the art can better understand the present invention and implement it. However, the embodiments cited are not intended to limit the present invention. In the present embodiment, it should be understood that the orientations or positional relationships indicated by terms such as "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", and "outside" are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present invention.

[0042] It should be noted that when an element is considered to be "connected" to another element, it may be directly connected to the other element and integrated therewith, or there may be an intermediate element at the same time. The terms "installed", "one end", "the other end" and similar expressions used in the present invention are for illustrative purposes only.

[0043] This embodiment provides a submarine trenching device, such as Figures 1 to 4 As shown, it includes a main frame 1, an operation unit and an operation auxiliary unit. The main frame 1 is provided with a sling connection device, which is used to connect with the lifting equipment 300 of the mother ship 200 so that the seabed trenching device 100 is in a suspended state during the operation; wherein the sling connection device includes but is not limited to the lifting lug 2.

[0044] The operation unit and the operation auxiliary unit are both connected to the main frame 1, and the operation unit and the operation auxiliary unit are respectively connected to the control system signal of the mother ship 200; the operation unit is used to spray water jets to the seabed, and the operation auxiliary unit is used to obtain auxiliary operation information and send it to the control system;

[0045] The mother ship 200 is also used to provide power and motive power to the operating units and the operating auxiliary units. Specifically, the mother ship 200 or the submarine trenching device 100 is provided with matching connecting cables (not shown in the figure) and pipelines (not shown in the figure), and the connecting cables and pipelines are provided with flexible sections to cope with the real-time changes in the relative positions of the submarine trenching device 100 and the mother ship 200.

[0046] The present invention integrates the operation unit and the operation auxiliary unit on the main frame 1, and a sling connection device is provided on the main frame 1, so that the submarine trenching device 100 of the present invention can implement trenching operations in suspended movement with the help of the navigation ability and lifting function of the mother ship 200, so that it will not be restricted by the shallow water depth of the offshore waters and the soft seabed geology, and can efficiently implement trenching operations in offshore waters, which can solve the problem that the offshore cable burying operations cannot be well applied to crawler trenchers, ROV trenchers and other operating equipment and cannot be carried out smoothly and efficiently;

[0047] At the same time, by using the mother ship 200 to achieve suspended movement, the power equipment required for autonomous navigation can be omitted, and the structural composition of the submarine trenching device 100 of the present invention is simplified, which can reduce its research and development and manufacturing costs; and the power supply and power source of the operating unit and the operating auxiliary unit can all come from the mother ship 200 or the main frame 1 is provided with a hydraulic power unit to provide a power source for the operating unit and the operating auxiliary unit, and only the power supply needs to be taken from the mother ship 200, which also greatly reduces the comprehensive cost of the submarine trenching device 100 of the present invention, and has good economy.

[0048] In another embodiment, the main frame 1 is also provided with a hydraulic power unit (not shown in the figure), such as an underwater power source PCU, etc. The operation unit and the operation auxiliary unit are both connected to the hydraulic power unit, and the mother ship 200 is used to provide power to the operation unit and the operation auxiliary unit, that is, the mother ship 200 or the seabed trenching device 100 is provided with a matching connection cable. In this embodiment, the main frame 1 is provided with a hydraulic power unit, which can provide a power source for the operation unit and the operation auxiliary unit, and the power source only needs to be taken from the mother ship 200. Compared with the situation where both the power source and the power source need to be self-sufficient, this embodiment can also reduce the comprehensive cost of the seabed trenching device 100 to a certain extent, and provide customers with a variety of model options.

[0049] In a preferred embodiment, Figures 2 to 4 As shown, the operation unit includes a water pump 3 and a nozzle connected to the water pump 3, and the water pump 3 and the nozzle are both connected to the main frame 1;

[0050] Alternatively, the operating unit includes a water pump 3 and a jet knife (not shown in the figure) connected to the water pump 3, and the water pump 3 and the jet knife are respectively connected to the main frame 1; in this embodiment, the high-pressure water column sprayed by the nozzle or the jet knife can form gullies on the seabed, thereby enabling seabed trenching operations.

[0051] In a further preferred embodiment, a one-way valve 6 is provided between the water pump 3 and the nozzle, or between the water pump 3 and the jet knife, to ensure that the water flow sucked by the water pump 3 only flows in the direction of the nozzle or the jet knife, and does not flow back in the direction of the water pump 3;

[0052] The geometric center of the water jet of the nozzle or the jet knife is symmetrically arranged with the vertical plane where the gravity center of the submarine trenching device 100 is located as the center, so that the reaction force formed by the nozzle or the jet knife when spraying water can be symmetrically located on both sides of the vertical plane where the gravity center of the submarine trenching device 100 is located, thereby ensuring the posture balance of the submarine trenching device 100 during trenching operation;

[0053] The water spray port of the spray pipe is located below the water pump 3, which can avoid interference between the water flow sucked by the water pump 3 and the water flow sprayed from the spray pipe, thereby improving the working efficiency of the water pump 3 and the trenching.

[0054] In another preferred embodiment, the nozzle includes a first nozzle 4 and a second nozzle 5, one end of the first nozzle 4 and the second nozzle 5 are connected to the water outlet end of the water pump 3, and the other ends of the first nozzle 4 and the second nozzle 5 are respectively located on both sides of the water pump 3; each nozzle can be detachably connected and fixed to the main frame 1 through a U-shaped pipe clamp 7, and an adjusting pad 10 can be arranged under the U-shaped pipe clamp 7 to adjust the height of the nozzle axis relative to the main frame 1. The water pump 3 can be detachably connected to the main frame 1 through an adaptive mounting frame, and the water outlet end of the water pump 3 can be detachably connected to one end of the first nozzle 4 and the second nozzle 5 through a flange 8, and a sealing gasket made of corrosion-resistant material such as ethylene is arranged at the joint for sealing.

[0055] Alternatively, the jet knife includes a first jet knife (not shown in the figure) and a second jet knife (not shown in the figure), the first jet knife and the second jet knife are respectively located on both sides of the water pump 3, and the water inlet ends of the first jet knife and the second jet knife are connected to the water outlet end of the water pump 3. In this case, the one-way valve 6 can be arranged at the water outlet end of the water pump 3, and the water pump 3 sucks seawater through its water inlet end; when trenching and burying the submarine cable, the spacing between the water outlets of the first nozzle 4 and the second nozzle 5 or the spacing between the first jet knife and the second jet knife is preferably 5 times the diameter of the submarine cable.

[0056] In a specific embodiment, the water pump 3 is a multi-stage pump, and the main frame 1 is provided with an adjustment component located below the water pump 3, and the bottom side of the water pump 3 abuts against the adjustment component. The adjustment component includes a base 9 and an adjustment pad 10, and the base 9 is close to the water pump 3 to play a supporting role. It is preferred that the base 9 is centrally arranged on the bottom side of the water pump 3, and the adjustment pad 10 is arranged on the bottom side of the base 9 to adjust the axis of the multi-stage pump to be parallel to the main frame 1. The number and thickness of the adjustment pad 10 can be selected accordingly according to the actual installation situation.

[0057] In another preferred embodiment, the operation auxiliary unit includes an electric control box 11, a first position monitoring component, an imaging device 12, and a second position monitoring component, all of which are connected to the main frame 1. The first position monitoring component, the imaging device 12, and the second position monitoring component are electrically connected to the electric control box 11 and connected to the control system signal of the mother ship 200, respectively. The electric control box 11 is also used to be electrically connected to the power supply of the mother ship 200;

[0058] The first position monitoring component is used to monitor the position information of the submarine trenching device 100 in the water and send the position information to the control system;

[0059] The second position monitoring component is used to monitor the position information of the target submarine cable of the trenching operation and send the position information to the control system;

[0060] The imaging device 12 is used to obtain the image information of the target submarine cable and send the image information to the control system. It is preferably a multi-beam imaging sonar, which is a sonar system that can instantly form images. The multi-beam imaging sonar can be detachably connected to the main frame 1 through an adapted mounting plate.

[0061] Specifically, the first position monitoring component includes a height meter 13, an altimeter 14 and an ultra-short baseline positioning device 15 respectively connected to the main frame 1, the height meter 13 is used to monitor the distance data between the submarine trenching device 100 and the seabed, the altimeter 14 is used to monitor the distance data between the submarine trenching device 100 and the sea surface, and the ultra-short baseline positioning device 15 is used to monitor the relative position data between the submarine trenching device 100 and the mother ship 200;

[0062] The altimeter 13, the height gauge 14 and the ultra-short baseline positioning device 15 are all electrically connected to the electric control box 11 and connected to the control system signal, and each sends the monitored data to the control system; wherein, the altimeter 13 and the electric control box 11 can be detachably connected to the main frame 1 through the mounting plate frame, the electric control box 11 is a watertight structure, and the height gauge 14 can be arranged in the electric control box 11 to make it waterproof and prevent it from being corroded by sea water.

[0063] The second position monitoring component is the TSS350 cable detection system 16 connected to the main frame 1. The TSS350 cable detection system 16 can obtain the precise position and burial depth of the target submarine cable through an algorithm, and can send the acquired target submarine cable information to the control system to assist in the implementation of the operation. The TSS350 can be fastened to the main frame 1 with nylon straps.

[0064] When trenching for submarine cables, the mother ship 200 carrying the submarine trenching device 100 uses the route map obtained in the previous investigation and marked with the location information of the submarine cables. After sailing to the waters near the submarine cables, the submarine trenching device 100 is connected to the power supply and hydraulic power source of the mother ship 200 respectively, or when the submarine trenching device 100 is equipped with a hydraulic power unit, the power supply of the mother ship 200 is connected to the submarine trenching device 100, the electric control box 11 is powered on, and the submarine trenching device 100 is hoisted to a position near the submarine cable by a hoisting device 300 such as a ship crane, and the hydraulic power unit is started. The power source is started, and the altimeter 13 and the altimeter 14 are started for detection, and the distance data between the submarine trenching device 100 and the seabed and the sea surface are obtained in real time. The ultra-short baseline positioning device 15 is started to obtain the relative distance with the mother ship 200 in real time, so as to monitor the position information of the submarine trenching device 100 in all directions. At the same time, the TSS350 cable detection system 16 is also started to detect the position of the submarine cable in real time and send it to the control system of the mother ship 200 in real time, so as to control the navigation of the mother ship 200 and the operation of the hoisting equipment 300, and the submarine trenching device 100 is hoisted and placed directly above the submarine cable;

[0065] When the relative distance between the submarine trenching device 100 and the seabed reaches the preset spacing value, the imaging device 12 such as imaging sonar is started and the submarine cable situation is fed back to the control system interface of the mother ship 200 in real time, and the position of the submarine trenching device 100 is adjusted according to the image information sent by the imaging device 12, and then the water pump 3 is started, and the nozzle continues to spray, spraying high-pressure jets to trench the seabed. After trenching, the submarine cable naturally falls into the trench. The above-mentioned preset spacing value is usually determined according to the diameter of the submarine cable, the size of the jet and the water pressure, and is usually 1500mm.

[0066] Further preferably, the operation auxiliary unit also includes a propeller 17 connected to the main frame 1, and the propeller 17 is used to provide thrust for adjusting the posture of the submarine trenching device 100, so as to control the overall posture of the submarine trenching device 100 in real time to ensure that it can be safely and reliably constructed. In specific applications, a posture sensor can be set on the main frame 1, and the operation of the propeller 17 can be controlled according to the posture information obtained by the posture sensor, so as to quickly and accurately adjust the submarine trenching device 100 to a suitable working posture.

[0067] In a further preferred embodiment, the operation auxiliary unit also includes a compensator 18 connected to the main frame 1. The compensator 18 is preferably detachably connected to the main frame 1 through an adaptive mounting plate frame. The driving oil circuits of the hydraulic drive components in the operation unit and the operation auxiliary unit are respectively connected to the compensator 18. For example, the driving hydraulic pipelines of hydraulic drive equipment such as the thruster 17 and the water pump 3 (not shown in the figure) are respectively connected to the compensator 18. The hydraulic pipeline is filled with oil to make the compensator 18 reach a preset pressure. By setting the compensator 18, the applicable water depth of the seabed trenching device 100 can be increased to enable it to reach deep-sea level operation capability. It should be noted that the more specific connection method of the hydraulic pipeline is the existing conventional technology and will not be repeated here.

[0068] Based on the above-mentioned submarine trenching device 100, a submarine trenching method is also provided, comprising:

[0069] The power supply and power source of the operation unit and the operation auxiliary unit are turned on, and the seabed trenching device 100 is hoisted and lowered into the sea water using the hoisting equipment 300 of the mother ship 200;

[0070] The operation auxiliary unit is started, and according to the auxiliary operation information received by the control system of the mother ship 200, the seabed trenching device 100 is suspended above the target seabed cable. When the seabed trenching device 100 is located at a preset operation height above the target seabed cable, the operation unit is started to perform trenching operations, and the navigation of the mother ship 200 and the operation of the hoisting equipment 300 are controlled according to the auxiliary operation information.

[0071] The trenching method of this embodiment adopts the above-mentioned seabed trenching device 100, and the seabed trenching device 100 can be suspended in the seawater by the mother ship 200 to perform trenching operations, thereby avoiding the limitations of the depth of the near-shore water and the softness of the seabed geology, and ensuring that the seabed trenching device 100 can operate smoothly and efficiently, and the operation method is simple, and it also has the beneficial effects of the above-mentioned seabed trenching device 100.

[0072] In this specification, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0073] In the description of this specification, the description with reference to the terms "preferred embodiment", "further embodiment", "other embodiments" or "specific example" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, unless they are contradictory.

[0074] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A submarine trenching device, characterized in that: It comprises a main frame, an operation unit and an operation auxiliary unit, wherein the main frame is provided with a sling connection device, and the sling connection device is used to connect with the slinging equipment of the mother ship so that the seabed trenching device is in a suspended state during the operation; The operation unit and the operation auxiliary unit are both connected to the main frame, and the operation unit and the operation auxiliary unit are respectively connected to the control system signal of the mother ship; the operation unit is used to spray water jets to the seabed, and the operation auxiliary unit is used to obtain auxiliary operation information and send it to the control system; The mother ship is also used to provide power and power source to the operation unit and the operation auxiliary unit; or, the main frame is also provided with a hydraulic power unit, the operation unit and the operation auxiliary unit are both connected to the hydraulic power unit, and the mother ship is used to provide power to the operation unit and the operation auxiliary unit; The operation auxiliary unit includes an electric control box, a first position monitoring component, an imaging device, and a second position monitoring component, all of which are connected to the main frame; The first position monitoring assembly comprises a height gauge, an altimeter and an ultra-short baseline positioning device respectively connected to the main frame, the height gauge is used to monitor the distance data between the submarine trenching device and the seabed, the altimeter is used to monitor the distance data between the submarine trenching device and the sea surface, and the ultra-short baseline positioning device is used to monitor the relative position data between the submarine trenching device and the mother ship; The altimeter, height meter and ultra-short baseline positioning device are all electrically connected to the electric control box and connected to the control system by signal, and each sends the monitored data to the control system; The second position monitoring component is a TSS350 cable detection system connected to the main frame, and the TSS350 cable detection system sends the acquired target submarine cable information to the control system.

2. A submarine trenching device according to claim 1, characterized in that: The operation unit comprises a water pump and a nozzle connected to the water pump, and the water pump and the nozzle are both connected to the main frame; Alternatively, the operation unit includes a water pump and a jet knife connected to the water pump, and the water pump and the jet knife are respectively connected to the main frame.

3. A submarine trenching device according to claim 2, characterized in that: A one-way valve is provided between the water pump and the spray pipe or the spray knife; And / or, the geometric center of the water jet of the nozzle or the jet knife is symmetrically arranged with the vertical plane where the center of gravity of the seabed trenching device is located as the center; And / or, the water spray port of the spray pipe is located below the water pump.

4. A submarine trenching device according to claim 2, characterized in that: The nozzle comprises a first nozzle and a second nozzle, one end of the first nozzle and the second nozzle are both connected to the water outlet of the water pump, and the other ends of the first nozzle and the second nozzle are respectively located at two sides of the water pump; Alternatively, the jet knife includes a first jet knife and a second jet knife, the first jet knife and the second jet knife are respectively located on both sides of the water pump, and the water inlet ends of the first jet knife and the second jet knife are connected to the water outlet end of the water pump.

5. A submarine trenching device according to claim 2, characterized in that: The water pump is a multi-stage pump, the main frame is provided with an adjusting component located below the water pump, and the bottom side of the water pump abuts against the adjusting component.

6. A submarine trenching device according to any one of claims 1 to 5, characterized in that: The first position monitoring component, the imaging device and the second position monitoring component are respectively electrically connected to the electric control box and connected to the control system signal of the mother ship, and the electric control box is also used to be electrically connected to the power supply of the mother ship; The first position monitoring component is used to monitor the position information of the submarine trenching device in water and send the position information to the control system; The second position monitoring component is used to monitor the position information of the target submarine cable of the trenching operation and send the position information to the control system; The imaging device is used to obtain image information of the target submarine cable and send the image information to the control system.

7. A submarine trenching device according to claim 6, characterized in that: The operation auxiliary unit also includes a propeller connected to the main frame, and the propeller is used to provide thrust for adjusting the posture of the seabed trenching device.

8. A submarine trenching device according to claim 6, characterized in that: The operation auxiliary unit further includes a compensator connected to the main frame, and the driving oil circuits of the hydraulic driving components in the operation unit and the operation auxiliary unit are respectively connected to the compensator.

9. A method for trenching on the seabed, characterized in that: A submarine trenching device according to any one of claims 1 to 8, comprising: Connect the power supply and power source of the operation unit and the operation auxiliary unit, and use the lifting equipment of the mother ship to lift the seabed trenching device into the seawater; The operation auxiliary unit is started, and according to the auxiliary operation information received by the control system of the mother ship, the seabed trenching device is suspended above the target submarine cable. When the seabed trenching device is located at a preset operation height above the target submarine cable, the operation unit is started to perform trenching operations, and the navigation of the mother ship and the operation of the hanging equipment are controlled according to the auxiliary operation information.

Images