Burying robot

Abstract

The embodiment of the present application provides a flushing and burying robot, which relates to the technical field of submarine cable burying robots, and solves the problem of low safety performance of the hydraulic system of the existing flushing and burying robot. The hydraulic system of the flushing and burying robot includes a closed hydraulic pump, multiple thruster motors, multiple water pump motors, and multiple hydraulic oil compensators. A hydraulic oil compensator is provided between the output end of each water pump motor and the input end of the closed hydraulic pump, and between the output end of each thruster motor and the input end of the closed hydraulic pump. The opening pressure thresholds of the output ends of the multiple hydraulic oil compensators are in an arithmetic progression. When the pressure of the hydraulic oil in the main hydraulic circuit is lower than the compensation pressure threshold, at least one hydraulic oil compensator replenishes the hydraulic oil to the main hydraulic circuit. The number of hydraulic oil compensators whose output ends are in an open state is inversely proportional to the pressure of the hydraulic oil in the main hydraulic circuit; the compensation pressure threshold is the maximum value of the opening pressure thresholds of the output ends of the multiple hydraulic oil compensators.

Description

Technical Field

[0001] The present application relates to the technical field of submarine cable burying robots, and in particular to a submarine cable burying robot. Background Art

[0002] Submarine cables are cables wrapped in insulating materials and laid on the seabed for telecommunication transmission. A flushing and burying robot is a robot used for laying and maintaining cables in underwater environments. The flushing and burying robot can cut the seabed to form a submarine cable trench and bury the submarine cable in the trench, thereby achieving the laying of the submarine cable.

[0003] The walking, trenching and landfilling operations of the flushing and burying robot are all driven by the hydraulic system. When designing the hydraulic system, it is particularly important to consider the safety performance of the hydraulic system.

[0004] However, the safety performance of the hydraulic system of the existing flushing and burial robot is relatively low, especially the need to design a larger oil tank, and the pollution is greater when leakage occurs. Summary of the invention

[0005] The embodiment of the present application provides a flushing and burying robot, which is used to solve the problem of low safety performance of the hydraulic system of the existing flushing and burying robot.

[0006] Some embodiments of the present application provide a flushing and burying robot, which includes a body frame, a trenching component, a backfilling mechanism, a propulsion mechanism, and an underwater walking mechanism;

[0007] The trenching component is connected to the fuselage frame, and the trenching component opens a submarine cable trench near the submarine cable, so that the submarine cable falls into the submarine cable trench under the action of gravity;

[0008] The backfilling mechanism is connected to the fuselage frame, and when the submarine cable falls into the submarine cable trench, the backfilling mechanism backfills the submarine cable trench;

[0009] The propulsion mechanism includes a horizontal propeller and a vertical propeller; the horizontal propeller is located on the fuselage frame; the horizontal propeller provides thrust on the horizontal plane for the flushing and burying robot; the vertical propeller is located on the fuselage frame; the vertical propeller provides thrust in the vertical direction for the flushing and burying robot;

[0010] The flushing and burying robot also includes a hydraulic system, which includes a closed hydraulic pump, a plurality of thruster motors, a plurality of water pump motors and a plurality of hydraulic oil compensators;

[0011] The closed hydraulic pump is provided with a plurality of output ends, the input end of a propeller motor is connected to the output end of a closed hydraulic pump, the input end of a water pump motor is connected to the output end of a closed hydraulic pump, the output end of each propeller motor is connected to the input end of the closed hydraulic pump, and the output end of each water pump motor is connected to the input end of the closed hydraulic pump;

[0012] A hydraulic oil compensator is provided between the output end of each water pump motor and the input end of the closed hydraulic pump, and the output end of the hydraulic oil compensator is connected to the pipeline of the output end of the water pump motor;

[0013] A hydraulic oil compensator is provided between the output end of each propeller motor and the input end of the closed hydraulic pump, and the output end of the hydraulic oil compensator is connected to the pipeline of the output end of the propeller motor;

[0014] Among them, the opening pressure thresholds of the output ends of multiple hydraulic oil compensators are in an arithmetic progression. When the pressure of the hydraulic oil in the main hydraulic circuit is lower than the compensation pressure threshold, at least one hydraulic oil compensator replenishes hydraulic oil to the main hydraulic circuit. The number of hydraulic oil compensators whose output ends are in the open state is inversely proportional to the pressure of the hydraulic oil in the main hydraulic circuit; the compensation pressure threshold is the maximum value of the opening pressure thresholds of the output ends of multiple hydraulic oil compensators.

[0015] The embodiment of the present application provides a flushing and burying robot. By setting a plurality of hydraulic oil compensators in the hydraulic system, the opening pressure thresholds of the output ends of the plurality of hydraulic oil compensators are in an arithmetic progression. When the pressure in the main hydraulic circuit is insufficient, at least one hydraulic oil compensator compensates the hydraulic oil in the main hydraulic circuit to avoid too much air from being mixed into the main hydraulic circuit due to insufficient pressure, thereby damaging the hydraulic components. In addition, the smaller the hydraulic oil pressure in the main hydraulic circuit, the greater the number of hydraulic oil compensators opened at the output end, and the faster the pressure compensation speed of the hydraulic oil. In addition, there is no need to set up a large oil tank, and only a small-capacity hydraulic oil compensator is required. When the hydraulic oil leaks in the hydraulic oil compensator, the amount of hydraulic oil leakage can be reduced because there is less hydraulic oil in the hydraulic oil compensator. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0017] Figure 1 A schematic diagram of the structure of a flushing and burying robot provided in some embodiments of the present application;

[0018] Figure 2 A schematic diagram of a hydraulic system of a flushing and burying robot provided in some embodiments of the present application;

[0019] Figure 3 A schematic diagram of a cable-finding path for a flushing and burying robot provided in some embodiments of the present application;

[0020] Figure 4 A schematic diagram of another cable-finding path of the flushing and burying robot provided in some embodiments of the present application;

[0021] Figure 5A schematic diagram of another cable-finding path of the flushing and burying robot provided in some embodiments of the present application;

[0022] Figure 6 Schematic diagram of a burial robot and a mother ship provided for some embodiments of the present application.

[0023] Reference numerals:

[0024] 100, flushing and burying robot; 110, fuselage frame; 120, trenching component; 141, vertical thruster; 142, horizontal thruster; 150, underwater walking mechanism; 160, submarine cable detector; 200, submarine cable; 300, submarine cable trench; 500, hydraulic system; 511, output end of closed hydraulic pump; 510, closed hydraulic pump; 520, thruster motor; 530, water pump motor; 540, hydraulic oil compensator; 600, communication cable; R1, first direction; R2, second direction; R3, third direction; R4, fourth direction; S0, initial position; S1, first position; S2, second position; S3, third position; S4, fourth position.

[0025] The above drawings have shown clear embodiments of the present application, which will be described in more detail later. These drawings and text descriptions are not intended to limit the scope of the present application in any way, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0026] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0027] In the description of this application, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0028] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "connected" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0029] Submarine cables are cables wrapped in insulating materials and laid on the seabed for telecommunication transmission. A flushing and burying robot is a robot used for laying and maintaining submarine cables in underwater environments. The flushing and burying robot can cut the seabed to form a submarine cable trench and bury the submarine cable in the trench, thereby achieving the laying of the submarine cable.

[0030] When the flushing and burying robot is working, the operating vessel will drop the submarine cable to the seabed according to the planned path. After the submarine cable sinks to the seabed due to its own gravity, the flushing and burying robot will be dropped to the submarine cable delivery area. The flushing and burying robot is equipped with a submarine cable detector. After the submarine cable detector detects the submarine cable, it will dig a trench along the extension direction of the cable.

[0031] The walking, trenching and landfilling operations of the flushing and burying robot are all driven by a hydraulic system. When designing a hydraulic system, it is particularly important to consider the safety performance of the hydraulic system. This application aims to provide a design scheme for a hydraulic system with higher safety performance.

[0032] Figure 1 This is a schematic diagram of the structure of the flushing robot 100 provided in some embodiments of the present application, such as Figure 1 As shown, some embodiments of the present application provide a flushing and burying robot 100 , which includes a body frame 110 , a trenching component 120 , a backfilling mechanism, a propulsion mechanism, and an underwater walking mechanism 150 .

[0033] The trenching component 120 is connected to the fuselage frame 110, and the trenching component 120 opens a submarine cable trench 300 near the submarine cable 200, so that the submarine cable 200 falls into the submarine cable trench 300 under the action of gravity. The backfilling mechanism is connected to the fuselage frame 110, and after the submarine cable 200 falls into the submarine cable trench 300, the backfilling mechanism backfills the submarine cable trench 300. The underwater walking mechanism 150 is connected to the fuselage frame 110, and drives the fuselage frame 110 and the components located on the fuselage frame 110 to walk.

[0034] The vertical direction Z is perpendicular to the horizontal plane XOY. More specifically, the propulsion mechanism includes a horizontal propeller 142 and a vertical propeller 141. The horizontal propeller 142 is located on the fuselage frame 110, and the horizontal propeller 142 provides thrust on the horizontal plane for the flushing and burying robot 100. The vertical propeller 141 is located on the fuselage frame 110, and the vertical propeller 141 provides thrust in the vertical direction Z for the flushing and burying robot 100.

[0035] Figure 2 A schematic diagram of a hydraulic system 500 of a flushing robot 100 provided in some embodiments of the present application, such as Figure 2 As shown, the flushing robot 100 further includes a hydraulic system 500 , which includes a closed hydraulic pump 510 , a plurality of thruster motors 520 , a plurality of water pump motors 530 , and a plurality of hydraulic oil compensators 540 .

[0036] The closed hydraulic pump 510 is provided with a plurality of output ends, the input end of a propeller motor 520 is connected to the output end 511 of a closed hydraulic pump, the input end of a water pump motor 530 is connected to the output end 511 of a closed hydraulic pump, the output end of each propeller motor 520 is connected to the input end of the closed hydraulic pump 510, and the output end of each water pump motor 530 is connected to the input end of the closed hydraulic pump 510.

[0037] The hydraulic oil flow rate at each output end of the closed hydraulic pump 510 can be adjusted based on the flow rate required by the connected propeller motor 520, or based on the flow rate required by the connected water pump motor 530.

[0038] The closed hydraulic pump 510 provides hydraulic oil to each thruster motor 520 and each water pump motor 530, so that each thruster motor 520 drives the thruster to rotate under the drive of the hydraulic oil, thereby controlling the flushing robot 100 to move forward or adjust the posture of the flushing robot 100. Each water pump motor 530 drives the water pump to output high-pressure water under the drive of the hydraulic oil, and the high-pressure water output by the water pump is sprayed to the seabed near the submarine cable 200 through the trenching component 120, so as to open a submarine cable trench 300 near the submarine cable 200. After driving the thruster motor 520, the hydraulic oil flows into the input end of the closed hydraulic pump 510 through the output end of the thruster motor 520, and after driving the water pump motor 530, the hydraulic oil flows into the input end of the closed hydraulic pump 510 through the output end of the water pump motor 530.

[0039] The closed-loop hydraulic pump 510 , the plurality of propeller motors 520 , and the plurality of water pump motors 530 form a main hydraulic circuit.

[0040] A hydraulic oil compensator 540 is provided between the output end of each water pump motor 530 and the input end of the closed hydraulic pump 510. More specifically, the output end of the hydraulic oil compensator 540 is connected to the pipeline of the output end of the water pump motor 530, and the hydraulic oil compensator 540 compensates the hydraulic oil in the main hydraulic circuit when the set conditions are met.

[0041] A hydraulic oil compensator 540 is provided between the output end of each thruster motor 520 and the input end of the closed hydraulic pump 510. More specifically, the output end of the hydraulic oil compensator 540 is connected to the pipeline of the output end of the thruster motor 520, and the hydraulic oil compensator 540 compensates the hydraulic oil in the main hydraulic circuit when the set conditions are met.

[0042] The opening pressure thresholds of the output ends of the multiple hydraulic oil compensators 540 are in an arithmetic progression. When the pressure of the hydraulic oil in the main hydraulic circuit is lower than the compensation pressure threshold, at least one hydraulic oil compensator 540 replenishes the hydraulic oil to the main hydraulic circuit. The number of hydraulic oil compensators 540 whose output ends are in an open state is inversely proportional to the pressure of the hydraulic oil in the main hydraulic circuit. The compensation pressure threshold is the maximum value of the opening pressure thresholds of the output ends of the multiple hydraulic oil compensators 540. The number of hydraulic oil compensators 540 is the same as the sum of the number of propeller motors 520 and the number of water pump motors 530.

[0043] More specifically, an output end spring and an output end valve core are provided at the output end of the hydraulic oil compensator 540. The output end spring is compressed under the pressure of the hydraulic oil in the main hydraulic circuit, and the output end valve core is located in the output end valve seat to prevent the hydraulic oil in the hydraulic oil compensator 540 from flowing out. When the pressure of the hydraulic oil in the main hydraulic circuit drops, the output end valve core moves out of the output end valve seat, so that the hydraulic oil in the hydraulic oil compensator 540 flows into the main hydraulic circuit. The elastic coefficient of the output end spring in each hydraulic oil compensator 540 is different, so as to ensure that the opening pressure threshold of the output end of the hydraulic oil compensator 540 is different.

[0044] Taking the hydraulic system 500 including 8 propeller motors 520 and 2 water pump motors 530 as an example, the number of hydraulic oil compensators 540 is 10. The opening pressure threshold of the output end of the first hydraulic oil compensator 540 is 1.01P, the opening pressure threshold of the output end of the second hydraulic oil compensator 540 is 1.02P, the opening pressure threshold of the output end of the third hydraulic oil compensator 540 is 1.03P, ..., the opening pressure threshold of the output end of the tenth hydraulic oil compensator 540 is 1.1P.

[0045] The compensation pressure threshold is the maximum value of the opening pressure thresholds of the output ends of the 10 hydraulic oil compensators 540, that is, the compensation pressure threshold is 1.1P. When the pressure value in the main hydraulic circuit is less than 1.1P, and when the pressure value in the main hydraulic circuit is greater than or equal to 1.09P, the output end of the 10th hydraulic oil compensator 540 is opened, the output ends of the 1st hydraulic oil compensator 540 to the 9th hydraulic oil compensator 540 are closed, and the 10th hydraulic oil compensator 540 compensates the hydraulic oil to the main hydraulic circuit.

[0046] When the pressure value in the main hydraulic circuit is less than 1.09P and the pressure value in the main hydraulic circuit is greater than or equal to 1.08P, the output ends of the 10th hydraulic oil compensator 540 and the 9th hydraulic oil compensator 540 are opened, the output ends of the 1st hydraulic oil compensator 540 to the 8th hydraulic oil compensator 540 are closed, and the 10th hydraulic oil compensator 540 and the 9th hydraulic oil compensator 540 compensate the hydraulic oil into the main hydraulic circuit.

[0047] When the pressure value in the main hydraulic circuit is less than 1.08P and the pressure value in the main hydraulic circuit is greater than or equal to 1.07P, the output end of the 10th hydraulic oil compensator 540, the output end of the 9th hydraulic oil compensator 540 and the output end of the 8th hydraulic oil compensator 540 are opened, the output ends of the 1st hydraulic oil compensator 540 to the 7th hydraulic oil compensator 540 are closed, and the 10th hydraulic oil compensator 540, the 9th hydraulic oil compensator 540 and the 8th hydraulic oil compensator 540 compensate the hydraulic oil into the main hydraulic circuit.

[0048] By analogy, the smaller the pressure value of the main hydraulic circuit is, the greater the number of hydraulic oil compensators 540 opened at the output end.

[0049] In the above technical solution, by setting a plurality of hydraulic oil compensators 540 in the hydraulic system 500, the opening pressure thresholds of the output ends of the plurality of hydraulic oil compensators 540 are in an arithmetic progression. When the pressure in the main hydraulic circuit is insufficient, at least one hydraulic oil compensator 540 compensates the hydraulic oil in the main hydraulic circuit to avoid too much air from being mixed into the main hydraulic circuit due to insufficient pressure, thereby damaging the hydraulic components. In addition, the smaller the hydraulic oil pressure in the main hydraulic circuit, the more hydraulic oil compensators 540 are opened at the output end, and the faster the pressure compensation speed of the hydraulic oil. There is no need to set a large hydraulic oil compensator 540 to adapt to the situation of a large compensation amount. In addition, there is no need to set a large oil tank, and only a small-capacity hydraulic oil compensator 540 is set. When the hydraulic oil leaks in the hydraulic oil compensator 540, the amount of hydraulic oil leakage can be reduced because there is less hydraulic oil in the hydraulic oil compensator 540.

[0050] In some embodiments, Figure 2As shown, each hydraulic oil compensator 540 is also provided with an input end, and the opening pressure thresholds of the input ends of the plurality of hydraulic oil compensators 540 are in an arithmetic progression.

[0051] For the hydraulic oil compensator 540 located at the output end of the thruster motor 520, the input end of the hydraulic oil compensator 540 is connected to the pipeline of the output end of the thruster motor 520, and the main hydraulic circuit discharges hydraulic oil into the hydraulic oil compensator 540 when the set conditions are met.

[0052] For the hydraulic oil compensator 540 located at the output end of the water pump motor 530, the input end of the hydraulic oil compensator 540 is connected to the pipeline of the output end of the water pump motor 530. When the set conditions are met, the main hydraulic circuit discharges hydraulic oil into the hydraulic oil compensator 540.

[0053] When the pressure of the hydraulic oil in the main hydraulic circuit is greater than the discharge pressure threshold, the main hydraulic circuit discharges the hydraulic oil to at least one hydraulic oil compensator 540, and the number of hydraulic oil compensators 540 whose input ends are in an open state is proportional to the pressure of the hydraulic oil in the main hydraulic circuit. The discharge pressure threshold is the minimum value of the opening pressure thresholds of the input ends of the multiple hydraulic oil compensators 540.

[0054] Taking the hydraulic system 500 including 8 propeller motors 520 and 2 water pump motors 530 as an example, the number of hydraulic oil compensators 540 is 10. The opening pressure threshold of the input end of the first hydraulic oil compensator 540 is 3.01P, the opening pressure threshold of the input end of the second hydraulic oil compensator 540 is 3.02P, the opening pressure threshold of the input end of the third hydraulic oil compensator 540 is 3.03P, ..., the opening pressure threshold of the input end of the tenth hydraulic oil compensator 540 is 3.1P.

[0055] The discharge pressure threshold is the minimum value of the opening pressure thresholds of the input ends of the 10 hydraulic oil compensators 540, that is, the discharge pressure threshold is 3.01P. When the pressure value in the main hydraulic circuit is greater than 3.01P, and the pressure value in the main hydraulic circuit is less than or equal to 3.02P, the input end of the first hydraulic oil compensator 540 is opened, and the input ends of the second hydraulic oil compensator 540 to the tenth hydraulic oil compensator 540 are closed, and the main hydraulic circuit discharges hydraulic oil into the first hydraulic oil compensator 540.

[0056] When the pressure value in the main hydraulic circuit is greater than 3.02 and less than or equal to 3.03P, the input ends of the first hydraulic oil compensator 540 and the second hydraulic oil compensator 540 are opened, and the input ends of the third hydraulic oil compensator 540 to the tenth hydraulic oil compensator 540 are closed, and the main hydraulic circuit discharges hydraulic oil into the first hydraulic oil compensator 540 and the second hydraulic oil compensator 540.

[0057] When the pressure value in the main hydraulic circuit is greater than 3.03P and the pressure value in the main hydraulic circuit is less than or equal to 3.04P, the input ends of the first hydraulic oil compensator 540, the input ends of the second hydraulic oil compensator 540 and the input ends of the third hydraulic oil compensator 540 are opened, and the input ends of the seventh hydraulic oil compensator 540 to the tenth hydraulic oil compensator 540 are closed, and the main hydraulic circuit discharges hydraulic oil into the main hydraulic circuit to the first hydraulic oil compensator 540, the second hydraulic oil compensator 540 and the third hydraulic oil compensator 540.

[0058] By analogy, the greater the pressure value of the main hydraulic circuit, the greater the number of hydraulic oil compensators 540 opened at the input end, so that the greater the hydraulic oil pressure, the faster the discharge speed, ensuring the safety of the main hydraulic circuit.

[0059] In the above technical solution, the input end of the hydraulic oil compensator 540 opens when receiving a pressure exceeding the opening pressure threshold, and can release the pressure when the pressure of the main hydraulic circuit increases, thereby preventing the main hydraulic circuit from rapidly increasing the pressure and causing damage to the hydraulic components. In addition, by making the opening pressure thresholds of the input ends of different hydraulic oil compensators 540 an arithmetic progression, the greater the hydraulic oil pressure in the main hydraulic circuit, the greater the number of hydraulic oil compensators 540 opened at the input end, and the faster the hydraulic oil pressure release speed, and there is no need to set a large hydraulic oil compensator 540 to adapt to the situation of large release volume.

[0060] In some embodiments, each hydraulic oil compensator 540 can exchange heat with seawater. As an example, the hydraulic oil compensator 540 can be directly exposed to seawater, so that the hydraulic oil in the hydraulic oil compensator 540 can be quickly cooled by the seawater. Since the hydraulic oil compensator 540 exchanges hydraulic oil with the main hydraulic circuit, the high-temperature hydraulic oil flowing into the hydraulic oil compensator 540 can be cooled by heat exchange with seawater and then flow into the main hydraulic circuit again.

[0061] When the flushing and burying robot 100 buries the submarine cable 200, the cable-dropping ship first drops the submarine cable 200 to the seabed according to the required route. Subsequently, the mother ship carries the flushing and burying robot 100 to the designated sea area, and the mother ship deploys the flushing and burying robot 100 into the seawater. After the flushing and burying robot 100 sinks to the seabed, the flushing and burying robot 100 finds the submarine cable 200 located nearby. During the process of dropping the submarine cable 200, the flow of seawater affects the placement position of the submarine cable 200. The flushing and burying robot 100 takes a long time to find the cable, and it also consumes more energy.

[0062] To further solve the above problems, some embodiments of the present application also provide a cable-finding solution. More specifically, the submarine cable 200 is a conductor in the ocean. When a current flows through the submarine cable 200, it will affect the surrounding magnetic field. Therefore, a magnetic field strength sensor is set on the burying robot 100 to sense the magnetic field strength at the location of the burying robot 100, and adjust the cable-finding path of the burying robot 100 according to the changing trend of the magnetic field strength. In addition, a signal transmitter is set in the burying robot 100, and a signal receiver is set in the submarine cable 200. When the distance between the signal transmitter and the signal receiver is greater than the communication distance, the signal receiver cannot receive the detection signal sent by the signal transmitter. In order to further reduce the power loss of the burying robot 100, when the burying robot 100 walks within the communication distance, the signal transmitter is controlled to transmit a detection signal, so that after the signal receiver in the submarine cable 200 receives the detection signal, a response signal is returned to the burying robot 100. In this way, the burying robot 100 locates the position of the submarine cable 200 based on the response signal.

[0063] In some embodiments, the burying robot 100 further includes a magnetic field strength sensor, a signal transmitter, and a control device, and a signal receiver is installed on the submarine cable 200 to be buried.

[0064] After the burying robot 100 lands on the seabed, the control device obtains the initial magnetic field strength sensed by the magnetic field strength sensor. After the control device controls the burying robot 100 to travel a unit distance in the first direction R1, the control device obtains the first magnetic field strength sensed by the magnetic field strength sensor.

[0065] If the first magnetic field strength is greater than the initial magnetic field strength, the control device controls the burying robot 100 to travel a unit distance in the second direction R2, and obtains the second magnetic field strength sensed by the magnetic field strength sensor, and the angle between the second direction R2 and the first direction R1 is less than 90°.

[0066] If the difference between the second magnetic field strength and the first magnetic field strength is greater than the difference between the first magnetic field strength and the initial magnetic field strength, the flushing robot 100 is controlled to move in the second direction R2.

[0067] When the burying robot 100 is moving along the second direction R2, the real-time magnetic field strength sensed by the magnetic field strength sensor is obtained. When the real-time magnetic field strength is greater than the preset magnetic field threshold, the signal transmitter is controlled to send a detection signal, and the relative position of the submarine cable 200 relative to the burying robot 100 is obtained based on the received response signal.

[0068] Figure 3 A schematic diagram of a cable-finding path of the flushing and burying robot 100 provided in some embodiments of the present application, such as Figure 3As shown, after the burying robot 100 lands on the seabed, the landing location is taken as the initial position S0. The control device obtains the initial magnetic field strength of the burying robot 100 at the initial position S0. A first direction R1 is randomly generated, and the control device controls the burying robot 100 to travel a unit distance along the first direction R1, and the burying robot 100 reaches the first position S1. The control device obtains the first magnetic field strength of the burying robot 100 at the first position S1.

[0069] The control device compares the first magnetic field strength with the initial magnetic field strength. If the first magnetic field strength is greater than the initial magnetic field strength, it indicates that the flushing and burying robot 100 is approaching the submarine cable 200 to be buried. The second direction R2 is randomly generated, and the angle between the first direction R1 and the second direction R2 is less than 90°, so as to ensure that the difference between the first direction R1 and the second direction R2 is relatively small, and ensure that the flushing and burying robot 100 is still approaching the submarine cable 200.

[0070] The control device controls the burying robot 100 to travel a unit distance along the second direction R2, and the burying robot 100 reaches the second position S2. The control device obtains the second magnetic field strength of the burying robot 100 at the second position S2. If the difference between the second magnetic field strength and the first magnetic field strength is greater than the difference between the first magnetic field strength and the initial magnetic field strength, it means that compared with traveling along the first direction R1, traveling along the second direction R2 to approach the submarine cable 200 will be faster. Therefore, the better second direction R2 is selected for traveling.

[0071] For example: the initial magnetic field strength is 10 units, the first magnetic field strength is 11 units, the second magnetic field strength is 12.5 units, the difference between the second magnetic field strength and the first magnetic field strength is 1.5 units, the difference between the first magnetic field strength and the initial magnetic field strength is 1 unit, 1.5 is greater than 1, so continue walking along the second direction R2.

[0072] The magnetic field strength is detected in real time while the flushing and burying robot 100 is moving along the second direction R2. When the magnetic field strength is greater than a preset strength threshold, the signal transmitter is controlled to send a detection signal. The signal receiver on the submarine cable 200 receives the detection signal, generates a response signal, and transmits the response signal to the outside. After receiving the response signal, the flushing and burying robot 100 obtains the relative position of the submarine cable 200 relative to the flushing and burying robot 100 according to the received response signal.

[0073] In the above technical solution, a walking direction is randomly generated, and the change of magnetic field strength in the walking direction is detected. If the magnetic field strength becomes stronger, it means that walking in this direction will be closer to the submarine cable 200. Then, another walking direction with a similar direction is randomly generated, and the change of magnetic field strength in this walking direction is detected. If the magnetic field change rate of the current walking direction is greater than the magnetic field change rate of the previous walking direction, the current walking direction is selected to continue walking. In this way, a better direction can be selected to improve the cable finding efficiency.

[0074] In some embodiments, the control device is further configured to:

[0075] If the difference between the second magnetic field strength and the first magnetic field strength is smaller than the difference between the first magnetic field strength and the initial magnetic field strength, the flushing robot 100 is controlled to move in the first direction R1.

[0076] When the burying robot 100 is moving along the first direction R1, the real-time magnetic field strength sensed by the magnetic field strength sensor is obtained. When the real-time magnetic field strength is greater than the preset magnetic field threshold, the signal transmitter is controlled to send a detection signal, and the relative position of the submarine cable 200 relative to the burying robot 100 is obtained based on the received response signal.

[0077] More specifically, Figure 4 Another cable-finding path schematic diagram of the flushing and burying robot 100 provided in some embodiments of the present application is as follows: Figure 4 As shown, if the difference between the second magnetic field strength and the first magnetic field strength is less than the difference between the first magnetic field strength and the initial magnetic field strength, it means that compared with traveling along the first direction R1, traveling along the second direction R2 to approach the submarine cable 200 will be slower. Therefore, the better first direction R1 is selected.

[0078] For example: the initial magnetic field strength is 10 units, the first magnetic field strength is 11 units, the second magnetic field strength is 9.5 units, the difference between the second magnetic field strength and the first magnetic field strength is -1.5 units, the difference between the first magnetic field strength and the initial magnetic field strength is 1 unit, -1.5 is less than 1, so continue walking along the first direction R1.

[0079] The magnetic field strength is detected in real time while the flushing and burying robot 100 is moving along the first direction R1. When the magnetic field strength is greater than a preset strength threshold, the signal transmitter is controlled to send a detection signal, and the relative position of the submarine cable 200 relative to the flushing and burying robot 100 is obtained based on the detection signal received by the signal receiver.

[0080] In some embodiments, if the first magnetic field strength is greater than the initial magnetic field strength, the control device controls the flushing robot 100 to travel to the initial position S0, and controls the flushing robot 100 to travel a unit distance in the third direction R3, and then obtains the third magnetic field strength sensed by the magnetic field strength sensor. The third direction R3 is opposite to the first direction R1.

[0081] After the control device controls the flushing robot 100 to travel a unit distance in the fourth direction R4, the fourth magnetic field strength sensed by the magnetic field strength sensor is obtained. The angle between the fourth direction R4 and the third direction R3 is less than 90°.

[0082] If the difference between the fourth magnetic field strength and the third magnetic field strength is greater than the difference between the third magnetic field strength and the initial magnetic field strength, the flushing robot 100 is controlled to move in the fourth direction R4.

[0083] When the burying robot 100 is moving along the fourth direction R4, the real-time magnetic field strength sensed by the magnetic field strength sensor is obtained. When the real-time magnetic field strength is greater than the preset magnetic field threshold, the signal transmitter is controlled to send a detection signal, and the relative position of the submarine cable 200 relative to the burying robot 100 is obtained based on the received response signal.

[0084] More specifically, Figure 5 A schematic diagram of a cable-finding path of the flushing and burying robot 100 provided in some embodiments of the present application, such as Figure 5 As shown, after the burying robot 100 lands on the seabed, the landing location is taken as the initial position S0. The control device obtains the initial magnetic field strength of the burying robot 100 at the initial position S0. A first direction R1 is randomly generated, and the control device controls the burying robot 100 to travel a unit distance along the first direction R1, and the burying robot 100 reaches the first position S1. The control device obtains the first magnetic field strength of the burying robot 100 at the first position S1.

[0085] The control device compares the first magnetic field strength with the initial magnetic field strength. If the first magnetic field strength is less than the initial magnetic field strength, it means that the flushing and burying robot 100 is far away from the submarine cable 200 to be buried. Therefore, the flushing and burying robot 100 is controlled to move to the initial position S0 and move in the third direction R3. The third direction R3 is opposite to the first direction R1. In this way, it is ensured that the flushing and burying robot 100 moves close to the submarine cable 200 to be buried.

[0086] After traveling a unit distance along the third direction R3, the burying robot 100 arrives at the third position S3. A fourth direction R4 is randomly generated, and the angle between the fourth direction R4 and the third direction R3 is less than 90. The control device controls the burying robot 100 to travel a unit distance from the third position S3 to the fourth direction R4, and then the burying robot 100 arrives at the fourth position S4. The burying robot 100 obtains the fourth magnetic field strength sensed by the magnetic field strength sensor at the fourth position S4. Compare the speed of approaching the submarine cable 200 when walking along the third direction R3 and the speed of approaching the submarine cable 200 when walking along the fourth direction R4.

[0087] That is, the difference between the fourth magnetic field strength and the third magnetic field strength is compared with the difference between the third magnetic field strength and the initial magnetic field strength. If the difference between the fourth magnetic field strength and the third magnetic field strength is greater than the difference between the third magnetic field strength and the initial magnetic field strength, it means that the speed of approaching the submarine cable 200 when walking along the fourth direction R4 is greater than the speed of approaching the submarine cable 200 when walking along the third direction R3, then the fourth direction R4 is selected to continue traveling.

[0088] The magnetic field strength is detected in real time while the flushing and burying robot 100 is moving along the fourth direction R4. When the magnetic field strength is greater than a preset strength threshold, the signal transmitter is controlled to send a detection signal, and the relative position of the submarine cable 200 relative to the flushing and burying robot 100 is obtained based on the received response signal.

[0089] In some embodiments, if the difference between the fourth magnetic field strength and the third magnetic field strength is smaller than the difference between the third magnetic field strength and the initial magnetic field strength, the flushing robot 100 is controlled to move in the third direction R3.

[0090] When the burying robot 100 is moving along the third direction R3, the real-time magnetic field strength sensed by the magnetic field strength sensor is obtained. When the real-time magnetic field strength is greater than the preset magnetic field threshold, the signal transmitter is controlled to send a detection signal, and the relative position of the submarine cable 200 relative to the burying robot 100 is obtained based on the received response signal.

[0091] In some embodiments, the preset magnetic field threshold is calculated based on the detection distance L0 between the signal transmitter and the signal receiver and the size of the submarine cable 200. More specifically, the magnitude of the current flowing through the submarine cable 200 can be calculated using the seawater information in the ocean. The seawater information includes but is not limited to the proportion of substances contained in the seawater, the seawater temperature, etc. The magnetic field strength at the detection distance L0 of the submarine cable 200 is calculated based on the size of the submarine cable 200 and the magnitude of the current in the submarine cable 200. The calculated magnetic field strength at the detection distance L0 of the submarine cable 200 is used as the preset magnetic field threshold.

[0092] In some embodiments, Figure 6As shown, a communication cable 600 is arranged between the flushing and burying robot 100 and the mother ship. When the flushing and burying robot 100 performs trenching and backfilling operations along the submarine cable 200 to be buried, the moving speed of the different height segments of the communication cable 600 along the horizontal plane at each moment during the driving process of the flushing and burying robot 100 is detected. According to the moving speed of the different height segments of the communication cable 600 along the horizontal plane at each moment, the recovery path of the flushing and burying robot 100 is determined. And after the flushing and burying robot 100 completes the trenching and backfilling operations, the recovery operation is performed according to the recovery path of the flushing and burying robot 100.

[0093] Among them, a speed sensor is provided at each height of the communication cable 600, and the speed signal detected by the speed sensor is transmitted to the flushing and burying robot 100 through the communication cable 600. The flushing and burying robot 100 obtains the moving speed of the communication cable 600 along the horizontal plane collected by the speed sensor at each moment. The moving speed of the communication cable 600 is affected by the traction of the mother ship and / or the flushing and burying robot 100 on the one hand, and by the seawater flow rate in the water area where the communication cable 600 is located on the other hand. Since the speed of the mother ship and / or the flushing and burying robot 100 is known, the moving speed of the communication cable 600 along the horizontal plane can reflect the magnitude of the seawater flow rate.

[0094] The seawater flow rate will affect the recovery path of the flushing and burying robot 100 during the recovery operation. In order to avoid the actual recovery area of ​​the flushing and burying robot 100 being far away from the target recovery area, the speed of the submarine cable 200 along the horizontal plane at each time can be obtained, so that the seawater flow rate in each sea area can be determined based on the speed of the submarine cable 200 along the horizontal plane at each time. Then, the optimal recovery path is selected based on the seawater flow rate in each sea area, and the recovery operation is performed according to the recovery path of the flushing and burying robot 100 after the flushing and burying robot 100 completes the trenching and landfilling operations.

[0095] In the above technical solution, a sensor is arranged on the communication cable 600 to detect the moving speed of the cable along the horizontal plane at each moment, and the recovery path of the flushing and burying robot 100 is determined according to the moving speed of the communication cable 600 along the horizontal plane at each moment. The flushing and burying robot 100 can be selected to recover the area with the smallest recovery path by the seawater flow rate, so that the difference between the actual recovery area and the target recovery area is smaller, thereby improving the recovery efficiency of the flushing and burying robot 100.

[0096] In some embodiments, the flushing and burying robot 100 calculates the vector average of the horizontal speeds of different height segments on the communication cable 600 at each moment, obtains the horizontal vector average speed of the communication cable 600 at each moment, and uses the position of the flushing and burying robot at the minimum moment as the starting point of the recovery path. The minimum moment is the moment when the horizontal vector average speed is the smallest.

[0097] by Figure 6 Taking the sensor layout diagram of the communication cable 600 shown in the figure as an example, 7 sensors are arranged on the communication cable 600 for detecting speeds at 7 heights.

[0098] At time t, the flushing robot 100 obtains the speed on the horizontal plane at a height of 7 on the communication cable 600. They are speed V1, speed V2, speed V3, ..., speed V7. The vector average of speed V1, speed V2, speed V3, ..., speed V7 is calculated to obtain the horizontal vector average speed Vt at time t.

[0099] At time t+1, the flushing robot 100 obtains the speed on the horizontal plane at a height of 7 above the communication cable 600. They are speed V8, speed V9, speed V10, ..., speed V14. The vector average of speeds V8, speed V9, speed V10, ..., speed V14 is calculated to obtain the horizontal vector average speed Vt+1 at time t+1.

[0100] By analogy, the horizontal vector average speed at multiple moments is calculated, and the moment corresponding to the minimum value among the multiple horizontal vector average values ​​is selected as the minimum moment, and the position of the flushing robot at the minimum moment is used as the starting point of the recovery path, and the flushing robot 100 starts to float at the starting point until the flushing robot 100 floats to the surface and is recovered by the mother ship.

[0101] In some embodiments, when the minimum average vector velocity is less than or equal to the adjustment velocity threshold, the horizontal thrusters 142 are controlled to stop providing thrust on the horizontal plane.

[0102] When the minimum average vector velocity is greater than the adjustment velocity threshold, when the flushing robot 100 ascends along the recovery path, the horizontal propeller 142 is controlled to provide a propulsion force in the opposite direction to the minimum average vector velocity.

[0103] The minimum average vector velocity is the average vector velocity at the minimum moment. When the minimum average vector velocity is relatively small, the seawater flow rate has a relatively small effect on the recovery path of the flushing and burying robot 100. The horizontal propeller 142 is not required to adjust the speed of the flushing and burying robot 100 along the horizontal plane during recovery.

[0104] When the minimum average vector velocity is relatively large, the seawater flow rate has a relatively large impact on the recovery path of the flushing and burying robot 100. The horizontal propeller 142 is required to adjust the speed of the flushing and burying robot 100 along the horizontal plane during recovery.

[0105] Therefore, an adjustment speed threshold is set. When the flushing robot 100 floats up and recovers along the recovery path, if the average vector speed of the communication cable 600 corresponding to the recovery path is greater than the adjustment threshold, the horizontal propeller 142 is controlled to provide a propulsion force, and the speed of the propulsion force is opposite to the direction of the minimum average vector speed. The magnitude of the propulsion force is determined according to the magnitude of the minimum average vector speed. The greater the minimum average vector speed, the greater the propulsion force. The smaller the minimum average vector speed, the smaller the propulsion force. If the average vector speed of the communication cable 600 corresponding to the recovery path is less than or equal to the adjustment threshold, there is no need to provide a propulsion force.

[0106] In the above technical solution, when the flushing and burying robot 100 is recovered, it is determined whether to provide a propulsion force on the horizontal plane based on the seawater flow velocity on the path, so that the flushing and burying robot 100 can be recovered in the target area.

[0107] The control device provided in this embodiment includes: at least one processor and a memory. Optionally, the device also includes a communication component. The processor, the memory and the communication component are connected via a bus.

[0108] In a specific implementation process, at least one processor executes computer-executable instructions stored in a memory, so that at least one processor executes the above method.

[0109] The specific implementation process of the processor can be found in the above method embodiment, and its implementation principle and technical effect are similar, so this embodiment will not be repeated here.

[0110] In the above embodiments, it should be understood that the processor can be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), etc. A general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in the invention can be directly implemented as a hardware processor, or can be implemented by a combination of hardware and software modules in the processor.

[0111] The memory may include a high-speed memory (Random Access Memory, RAM), and may also include a non-volatile memory (NVM), such as at least one disk storage.

[0112] The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, the bus in the drawings of this application is not limited to only one bus or one type of bus.

[0113] The present application also provides a computer program product, including a computer program, which implements the above method when executed by a processor.

[0114] The present application also provides a computer-readable storage medium, in which computer-executable instructions are stored. When a processor executes the computer-executable instructions, the above method is implemented.

[0115] The above-mentioned readable storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk. The readable storage medium can be any available medium that can be accessed by a general or special-purpose computer.

[0116] An exemplary readable storage medium is coupled to a processor so that the processor can read information from the readable storage medium and write information to the readable storage medium. Of course, the readable storage medium can also be a component of the processor. The processor and the readable storage medium can be located in an application specific integrated circuit (Application Specific Integrated Circuits, referred to as: ASIC). Of course, the processor and the readable storage medium can also exist in the device as discrete components.

[0117] The division of units is only a logical function division, and there may be other divisions in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interface, device or unit, which can be electrical, mechanical or other forms.

[0118] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0119] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0120] If the function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the methods of each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.

[0121] Those skilled in the art can understand that all or part of the steps of implementing the above-mentioned method embodiments can be completed by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, the steps of the above-mentioned method embodiments are executed; and the aforementioned storage medium includes: ROM, RAM, disk or optical disk and other media that can store program codes.

[0122] Finally, it should be noted that those skilled in the art will readily conceive of other embodiments of the present invention after considering the specification and practicing the invention disclosed herein. The present invention is intended to cover any variations, uses or adaptations of the present invention, which follow the general principles of the present invention and include common knowledge or customary technical means in the art not disclosed by the present invention, are not limited to the precise structure described above and shown in the drawings, and may be modified and changed in various ways without departing from the scope thereof. The scope of the present invention is limited only by the appended claims.

Claims

1. A flushing and burying robot, characterized in that: The flushing and burying robot comprises a body frame, a trenching component, a backfilling mechanism, a propulsion mechanism and an underwater walking mechanism; The trenching component is connected to the fuselage frame, and the trenching component opens a submarine cable trench near the submarine cable, so that the submarine cable falls into the submarine cable trench under the action of gravity; The backfilling mechanism is connected to the fuselage frame, and when the submarine cable falls into the submarine cable trench, the backfilling mechanism backfills the submarine cable trench; The flushing and burying robot also includes a hydraulic system, which includes a closed hydraulic pump, a plurality of thruster motors, a plurality of water pump motors and a plurality of hydraulic oil compensators; The closed hydraulic pump is provided with a plurality of output ends, the input end of a propeller motor is connected to the output end of the closed hydraulic pump, the input end of a water pump motor is connected to the output end of the closed hydraulic pump, the output end of each propeller motor is connected to the input end of the closed hydraulic pump, and the output end of each water pump motor is connected to the input end of the closed hydraulic pump; A hydraulic oil compensator is provided between the output end of each water pump motor and the input end of the closed hydraulic pump; a hydraulic oil compensator is provided between the output end of each propeller motor and the input end of the closed hydraulic pump; The opening pressure thresholds of the output ends of the plurality of hydraulic oil compensators are in an arithmetic progression. When the pressure of the hydraulic oil in the main hydraulic circuit is lower than the compensation pressure threshold, at least one of the hydraulic oil compensators replenishes the hydraulic oil to the main hydraulic circuit. The number of hydraulic oil compensators whose output ends are in an open state is inversely proportional to the pressure of the hydraulic oil in the main hydraulic circuit. The compensation pressure threshold is the maximum value of the opening pressure thresholds of the output ends of the plurality of hydraulic oil compensators. Each of the hydraulic oil compensators is also provided with an input end, and the opening pressure thresholds of the input ends of the plurality of hydraulic oil compensators are in an arithmetic progression; Wherein, when the pressure of the hydraulic oil in the main hydraulic circuit is greater than the discharge pressure threshold, the main hydraulic circuit discharges the hydraulic oil to at least one of the hydraulic oil compensators, and the number of hydraulic oil compensators whose input ends are in an open state is proportional to the pressure of the hydraulic oil in the main hydraulic circuit; the discharge pressure threshold is the minimum value of the opening pressure thresholds of the input ends of the multiple hydraulic oil compensators; The flushing and burying robot further comprises a magnetic field strength sensor, a signal transmitter and a control device, and a signal receiver is installed on the submarine cable to be buried; After the flushing and burying robot lands on the seabed, the control device obtains the initial magnetic field strength sensed by the magnetic field strength sensor; after the control device controls the flushing and burying robot to travel a unit distance in the first direction, the control device obtains the first magnetic field strength sensed by the magnetic field strength sensor; If the first magnetic field strength is greater than the initial magnetic field strength, the control device controls the flushing robot to travel a unit distance in the second direction, and then obtains the second magnetic field strength sensed by the magnetic field strength sensor; If the difference between the second magnetic field strength and the first magnetic field strength is greater than the difference between the first magnetic field strength and the initial magnetic field strength, the flushing robot is controlled to move in a second direction, and the angle between the second direction and the first direction is less than 90°; When the flushing and burying robot is moving along the second direction, the real-time magnetic field strength sensed by the magnetic field strength sensor is obtained; when the real-time magnetic field strength is greater than a preset magnetic field threshold, the signal transmitter is controlled to send a detection signal, and the relative position of the submarine cable relative to the flushing and burying robot is obtained according to the received response signal; The control device is also used for: If the first magnetic field strength is less than the initial magnetic field strength, the control device controls the flushing robot to travel to the initial position, and controls the flushing robot to travel a unit distance in a third direction, and then obtains the third magnetic field strength sensed by the magnetic field strength sensor; the third direction is opposite to the first direction; The control device controls the flushing and burying robot to travel a unit distance in a fourth direction, and then obtains a fourth magnetic field strength sensed by the magnetic field strength sensor; the angle between the fourth direction and the third direction is less than 90°; If the difference between the fourth magnetic field strength and the third magnetic field strength is greater than the difference between the third magnetic field strength and the initial magnetic field strength, the flushing robot is controlled to move in the fourth direction. When the burying robot is moving along the fourth direction, the real-time magnetic field strength sensed by the magnetic field strength sensor is obtained. When the real-time magnetic field strength is greater than the preset magnetic field threshold, the signal transmitter is controlled to send a detection signal, and the relative position of the submarine cable relative to the burying robot is obtained based on the received response signal.

2. The flushing robot according to claim 1, characterized in that: The hydraulic oil compensator performs heat exchange with seawater.

3. The flushing robot according to claim 1, characterized in that: The control device is also used for: If the difference between the second magnetic field strength and the first magnetic field strength is smaller than the difference between the first magnetic field strength and the initial magnetic field strength, the flushing robot is controlled to move in a first direction; When the burying robot is moving along the first direction, the real-time magnetic field strength sensed by the magnetic field strength sensor is obtained. When the real-time magnetic field strength is greater than the preset magnetic field threshold, the signal transmitter is controlled to send a detection signal, and the relative position of the submarine cable relative to the burying robot is obtained based on the received response signal.

4. The flushing robot according to claim 1, characterized in that: The preset magnetic field threshold is calculated based on the detection distance between the signal transmitter and the signal receiver and the size of the submarine cable.

5. The flushing robot according to claim 1 or 2, characterized in that: A communication cable is arranged between the flushing and burying robot and the mother ship. When the flushing and burying robot performs trenching and backfilling operations along the submarine cable to be buried, the moving speed of different height segments of the communication cable along the horizontal plane at each moment during the driving process of the flushing and burying robot is detected; according to the moving speed of different height segments of the communication cable along the horizontal plane at each moment, the recovery path of the flushing and burying robot is determined; and after the flushing and burying robot completes the trenching and backfilling operations, the recovery operation is performed according to the recovery path of the flushing and burying robot.

6. The flushing robot according to claim 5, characterized in that: The burying robot calculates the vector average of the horizontal velocities of different height segments on the communication cable at each moment, obtains the horizontal vector average velocity of the communication cable at each moment, and uses the position of the burying robot at the minimum moment as the starting point of the recovery path; wherein the minimum moment is the moment when the horizontal vector average velocity is the smallest.

7. The flushing robot according to claim 6, characterized in that: The propulsion mechanism includes a horizontal propeller, and the horizontal propeller is used to provide thrust in the horizontal direction; If the minimum average vector speed is less than or equal to the adjustment speed threshold, when the flushing and burying robot performs the recovery operation, the horizontal thruster is controlled to stop providing thrust on the horizontal plane; If the minimum average vector speed is greater than the adjustment speed threshold, when the flushing robot rises along the recovery path, the horizontal propeller is controlled to provide a propulsion force in the opposite direction to the minimum average vector speed.

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