Anti-scour terrain vehicle for filling submarine cables

Abstract

The invention relates to the technical field of offshore wind power, and discloses an anti-scour terrain vehicle for filling submarine cables, the anti-scour terrain vehicle comprises a support frame, a plurality of moving wheels, a driving part, a guide mechanism, a sandy soil filling mechanism and a controller, the plurality of moving wheels are mounted at the bottom of the support frame at intervals, and the driving part is mounted on the support frame and is in driving connection with at least one moving wheel; the guide mechanism is arranged below the supporting frame, the guide mechanism is in guide fit with the submarine cable, and the guide mechanism is used for guiding the terrain vehicle to move in the length direction of the submarine cable; the sandy soil landfill mechanism is installed on the supporting frame, the sandy soil landfill mechanism is provided with a sandy soil inlet and a sandy soil outlet, the sandy soil outlet right faces the submarine cable, and the sandy soil landfill mechanism is used for sucking sandy soil on the seabed and discharging the sandy soil through the sandy soil outlet to landfill the submarine cable; the controller is connected with the driving part and the sandy soil filling mechanism and used for driving the moving wheels to walk and driving the sandy soil filling mechanism to fill the submarine cable. According to the invention, automatic walking and submarine cable landfill operation can be realized.

Description

Technical Field

[0001] The invention relates to the technical field of offshore wind power, and in particular to an anti-scour terrain vehicle for burying submarine cables. Background Art

[0002] Submarine cables play a vital role in modern communications and energy transmission. However, the long-term exposure of submarine cables on the seabed faces multiple threats, including biofouling, currents and wave scouring, which may damage the cables and affect their function. Therefore, protecting submarine cables from these threats is key to ensuring their long-term effective operation.

[0003] At present, the main method used is to cover and protect the submarine cable by laying sand and gravel. The purpose of this is to prevent the submarine cable from being attached to organisms and being damaged by water currents and waves. However, the existing methods have great disadvantages. First of all, the biggest disadvantage is the high cost. The existing technology relies on the transportation and laying of large amounts of sand and gravel from the ship, which not only increases the material cost, but also the operating cost of the ship is extremely high. In addition, there is a waste of resources. Burying the submarine cable requires a large amount of external resources to fill the area around the submarine cable, and the environmental pollution problem is significant. Not only that, the existing methods are not adaptable to complex terrain and environment, and cannot effectively cope with various dynamic changes on the seabed. Summary of the invention

[0004] The purpose of the embodiment of the present invention is to provide an anti-scour terrain vehicle for burying submarine cables, which can realize automatic walking and submarine cable burying operations.

[0005] To achieve the above object, the present invention adopts the following technical solutions:

[0006] Provided is an anti-scour terrain vehicle for burying submarine cables, comprising:

[0007] A support frame, a plurality of moving wheels and a driving unit drivingly connected to at least one of the moving wheels, wherein the driving unit is mounted on the support frame, and the plurality of moving wheels are installed at intervals at the bottom of the support frame;

[0008] A guide mechanism, which is arranged below the support frame and cooperates with the submarine cable guide, and is used to guide the movement of the terrain vehicle along the length direction of the submarine cable;

[0009] A sand filling mechanism, the sand filling mechanism is installed on the support frame, the sand filling mechanism has a sand inlet and a sand outlet, the sand outlet is directly facing the submarine cable, and the sand filling mechanism is used to absorb sand from the seabed and discharge the sand through the sand outlet to bury the submarine cable;

[0010] A controller is connected to the driving unit and the sand filling mechanism respectively, and is used to drive the moving wheel to move and to drive the sand filling mechanism to bury the submarine cable.

[0011] As a further solution of the anti-scour terrain vehicle for burying submarine cables, the sand burying mechanism includes:

[0012] A main pipeline, wherein the main pipeline is installed on the support frame, and the length of the main pipeline extends in a direction perpendicular to the submarine cable;

[0013] An inlet pipe, one end of which is connected to the main pipeline, and the other end of which is inclined downward in a direction away from the submarine cable, and the sand inlet is located at the end of the inlet pipe away from the main pipeline;

[0014] An outlet pipe, the outlet pipe is connected to the bottom of the main pipeline, the sand outlet is located at an end of the outlet pipe away from the main pipeline, and the sand outlet is spaced apart from the submarine cable;

[0015] A vortex machine is installed in the main pipeline and located between the inlet pipe and the outlet pipe, and the vortex machine is connected to the controller.

[0016] As a further solution of the anti-scour terrain vehicle for burying submarine cables, the number of the inlet pipes is two, and an outlet pipe is installed at each end of the main pipeline along its length direction. The number of the vortex machines is two, and the two vortex machines are respectively adjacent to one of the inlet pipes.

[0017] As a further solution of the anti-scour terrain vehicle for burying submarine cables, the support frame includes a first support rod and at least two second support rods, the length of the first support rod extends along the length direction of the submarine cable, the second support rods are arranged at intervals along the length direction of the first support rod, the first support rod and the second support rod are fixedly connected to the center position along their length direction, the first support rod and / or the second support rod are connected to the guide mechanism, each of the two ends of the second support rod is respectively connected to a support leg, a moving wheel is installed at the bottom of each support leg, the guide mechanism is located between the two support legs at both ends of each second support rod, and the sand landfill mechanism is fixedly connected to the first support rod and / or the second support rod.

[0018] As a further solution of the anti-scour terrain vehicle for burying submarine cables, it also includes a transmission structure, and the two ends of each of the second support rods are respectively connected to the corresponding support legs through a group of the transmission structures, and the transmission structure can move up and down along the support legs.

[0019] As a further solution of the anti-scour terrain vehicle for burying submarine cables, the support leg comprises a support leg body and racks arranged on both sides of the support leg body along the length direction of the first support rod;

[0020] The transmission structure comprises:

[0021] A sleeve, wherein the sleeve is sleeved on the supporting leg, and the sleeve is concavely provided with two mounting grooves respectively facing the rack on one side;

[0022] A first gear and a second gear, wherein the first gear and the second gear are respectively installed in one of the installation slots, and the first gear and the second gear are respectively meshed with the corresponding rack;

[0023] Both ends of the second support rod are fixedly connected to one of the sleeves respectively.

[0024] As a further solution of the anti-scour terrain vehicle for burying submarine cables, the guide mechanism includes a positioning sleeve and a plurality of rollers arranged on the positioning sleeve, the positioning sleeve is connected to the support frame, the submarine cable is passed through the positioning sleeve, the axial direction of the roller extends along the length direction of the second support rod, the roller portion protrudes from the inner wall of the positioning sleeve and is in rolling contact with the outer wall of the submarine cable.

[0025] As a further solution of the anti-scour terrain vehicle for burying submarine cables, the support frame also includes a connecting rod, the upper end of the connecting rod is connected to the intersection of the first support rod and the second support rod, and the lower end of the connecting rod is fixedly connected to the positioning sleeve.

[0026] As a further solution of the anti-scour terrain vehicle for burying submarine cables, the number of the second support rods is three, the number of the guide mechanisms is two groups, the two groups of the guide mechanisms and the sand and soil filling mechanisms are arranged in sequence at intervals along the forward direction of the terrain vehicle, and one group of the guide mechanisms is located between the other group of the guide mechanisms and the sand and soil filling mechanisms.

[0027] As a further solution for the anti-scour terrain vehicle for burying submarine cables, it also includes an acoustic wave detector and a camera. The acoustic wave detector is installed at the front end of the support frame along the forward direction of the terrain vehicle, and the camera is installed at the sand outlet of the sand landfill mechanism.

[0028] Beneficial effects:

[0029] In the present invention, the controller can control the driving part to drive the moving wheel to drive the supporting frame and the sand and soil burying mechanism as a whole to move along the length direction of the submarine cable under the action of the guide mechanism. During the walking process, the controller controls the sand and soil burying mechanism to absorb the sand at the sand and soil entrance and bury the submarine cable. The anti-scouring terrain vehicle for burying submarine cables of the present invention can move autonomously along the submarine cable, adapt to various seabed terrains, realize automatic walking and burying operations, and protect the submarine cable from being scoured.

[0030] The anti-scour terrain vehicle for burying submarine cables of the present invention can use the surrounding sand and soil for burying. By sucking sand and soil not far from the submarine cable for burying, the need for external large-scale transportation of sand and gravel is avoided, the burden and disturbance on the environment are reduced, the material cost and environmental impact are significantly reduced, the fuel consumption of ships and the use of materials are significantly reduced, the construction cost of the submarine cable project is reduced as a whole, and air pollution can be reduced.

[0031] The anti-scour terrain vehicle for burying submarine cables of the present invention has high efficiency and automation, can easily complete work in complex terrain, and significantly improves landfill efficiency and accuracy. Its automated operation reduces the need for manual intervention, reduces labor costs, and improves work safety.

[0032] The anti-scour terrain vehicle for burying submarine cables of the present invention can intelligently sense and adapt to different seabed terrains. No matter it is a sandy, rocky or muddy seabed, it can move smoothly and effectively complete the landfill task, ensuring that the terrain vehicle still has efficient and stable working performance under various harsh conditions.

[0033] The anti-scour terrain vehicle for buried submarine cables of the present invention not only innovates the traditional anti-scour protection method for submarine cables, but also provides an efficient, economical and environmentally friendly solution for future submarine cable maintenance and protection. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] The present invention is further described in detail below based on the accompanying drawings and embodiments.

[0035] Figure 1 It is a schematic structural diagram of the anti-scour terrain vehicle for burying submarine cables according to an embodiment of the present invention.

[0036] Figure 2 It is a top view schematic diagram of the anti-scour terrain vehicle for burying submarine cables according to an embodiment of the present invention.

[0037] Figure 3 It is a front view schematic diagram of the anti-scour terrain vehicle for burying submarine cables according to an embodiment of the present invention.

[0038] Figure 4 It is a schematic rear view of the anti-scour terrain vehicle for burying submarine cables according to an embodiment of the present invention.

[0039] Figure 5It is a cross-sectional schematic diagram of the transmission structure and the support legs described in an embodiment of the present invention.

[0040] Figure 6 It is a structural schematic diagram of the guide mechanism described in an embodiment of the present invention.

[0041] In the figure:

[0042] 1. Submarine cable;

[0043] 100, support frame; 110, first support rod; 111, first sub-support rod; 112, second sub-support rod; 120, second support rod; 130, support leg; 131, support leg body; 132, rack; 140, connecting rod; 200, moving wheel; 300, guide mechanism; 310, positioning sleeve; 311, mounting hole; 320, roller; 400, sand landfill mechanism; 410, main pipeline; 420, inlet pipe; 430, outlet pipe; 500, transmission structure; 510, sleeve; 511, mounting groove; 520, first gear; 530, second gear; 600, sonic detector; 700, camera. DETAILED DESCRIPTION

[0044] In order to make the technical problems solved by the present invention, the technical solutions adopted and the technical effects achieved clearer, the technical solutions of the embodiments of the present invention will be further described in detail below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0045] In the description of the present invention, unless otherwise clearly specified and limited, the terms "connected", "connected", and "fixed" 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, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0046] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include the first feature being in direct contact with the second feature, or may include the first feature being in contact with the second feature through another feature between them instead of being in direct contact. Moreover, a first feature being "above", "above" and "above" a second feature includes the first feature being directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes the first feature being directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0047] In the description of this embodiment, if the terms "upper", "lower", "left", "right" and other directions or positional relationships appear, they are based on the directions or positional relationships shown in the drawings, and are only for the convenience of description and simplification of operation, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as limiting the present invention. In addition, if the terms "first", "second", etc. appear, they are only used to distinguish in the description and have no special meaning.

[0048] like Figures 1 to 6 As shown, the anti-scour terrain vehicle for burying submarine cables of this embodiment includes a support frame 100, a moving wheel 200, a driving unit, a guiding mechanism 300, a sand and soil burying mechanism 400 and a controller. The driving unit and the controller are not shown in the figure.

[0049] There are multiple moving wheels 200, and the multiple moving wheels 200 are installed at intervals at the bottom of the support frame 100, and the driving part is connected to at least one moving wheel 200; the guiding mechanism 300 is arranged below the support frame 100, and the guiding mechanism 300 cooperates with the submarine cable 1 for guiding, and the guiding mechanism 300 is used to guide the movement of the anti-scour terrain vehicle for burying the submarine cable along the length direction of the submarine cable 1; the sand filling mechanism 400 is installed on the support frame 100, and the sand filling mechanism 400 has a sand inlet and a sand outlet, and the sand outlet is directly opposite to the submarine cable 1, and the sand filling mechanism 400 is used to absorb sand from the seabed and discharge the sand through the sand outlet to bury the submarine cable 1; the controller is respectively connected to the driving part and the sand filling mechanism 400, and is used to drive the moving wheel 200 to move and to drive the sand filling mechanism 400 to bury the submarine cable 1.

[0050] In this embodiment, the controller can control the driving unit to drive the moving wheel 200 to drive the support frame 100 and the sand filling mechanism 400 to move along the length direction of the submarine cable 1 as a whole under the action of the guide mechanism 300. During the movement, the controller controls the sand filling mechanism 400 to absorb the sand at the sand entrance and bury the submarine cable 1 to protect the submarine cable 1 from being washed away.

[0051] The anti-scour terrain vehicle for burying submarine cables in this embodiment can move autonomously along the submarine cable 1 and adapt to various seabed terrains. The surrounding sand is used for burying, and the sand not far from the submarine cable 1 is absorbed for burying. No external materials are required, which significantly reduces material costs and environmental impacts, significantly reduces the use of ships and materials, and overall reduces the construction cost of the submarine cable project.

[0052] The driving part may be a motor installed on the anti-scour terrain vehicle for burying submarine cables, the motor is connected to the controller, and the motor is connected to the two moving wheels 200 corresponding to the two sides of the submarine cable 1. In other embodiments, the number of motors is two, and the two motors are respectively connected to the two moving wheels 200 corresponding to the two sides of the submarine cable 1, and the details are not repeated.

[0053] Furthermore, the sand landfill mechanism 400 includes a main pipeline 410, an inlet pipe 420, an outlet pipe 430 and a vortex machine, wherein the vortex machine is not shown in the figure.

[0054] In this embodiment, the main pipeline 410 is installed on the support frame 100, and the length of the main pipeline 410 extends in a direction perpendicular to the submarine cable 1; one end of the inlet pipe 420 is connected to the main pipeline 410, and the other end is inclined downward in a direction away from the submarine cable 1, and the sand inlet is located at the end of the inlet pipe 420 away from the main pipeline 410; the outlet pipe 430 is connected to the bottom of the main pipeline 410, and the sand outlet is located at the end of the outlet pipe 430 away from the main pipeline 410, and the sand outlet is spaced apart from the submarine cable 1; the vortex machine is installed in the main pipeline 410 and is located between the inlet pipe 420 and the outlet pipe 430, and the vortex machine is connected to the controller.

[0055] It can be understood that the vortex machine is installed in the main pipeline 410 and is located between the inlet pipe 420 and the outlet pipe 430. The sand near the submarine cable 1 can be sucked into the main pipeline 410 through the inlet pipe 420 and discharged through the outlet pipe 430. Since the sand outlet is directly opposite to the submarine cable 1, the sand coming out of the sand outlet just falls on the submarine cable 1. The controller controls the walking speed of the moving wheel 200 to make the buried thickness of the submarine cable 1 meet the requirements. For example, when the buried thickness of the sand at a certain place of the submarine cable 1 is not enough, the controller controls the moving wheel 200 to reduce the driving speed, so as to increase the buried thickness and integrity of the sand at that place of the submarine cable 1, and improve the anti-scouring effect of the submarine cable 1 at that place.

[0056] In this embodiment, the structure and working principle of the vortex machine are conventional technical means in the field and will not be described in detail.

[0057] The moving wheel 200 is a moving part of the anti-scour terrain vehicle for burying submarine cables. The outer circumference of the moving wheel 200 is provided with a plurality of convex strips, and the length of the convex strips extends along the axial direction of the moving wheel 200 to form a gear-like structure. The moving wheel 200 adopts this structural design to improve the grip of the moving wheel 200 on the sandy seabed.

[0058] Further, the number of inlet pipes 420 is two, and an outlet pipe 430 is respectively installed at both ends of the main pipeline 410 along its length direction. The number of vortex machines is two, and the two vortex machines are respectively adjacent to one of the inlet pipes 420. Among them, the outlet pipe 430 is installed at the center position of the main pipeline 410 along its length direction, and the outlet pipe 430 is vertically connected to the main pipeline 410. When the controller controls the two vortex machines to work simultaneously, the vortex machine sucks the sand near the sand inlet of the inlet pipe 420 into the inlet pipe 420, and moves the sand along the main pipeline 410 away from the inlet pipe 410. Finally, the sand on both sides of the outlet pipe 430 of the main pipeline 410 falls into the outlet pipe 430, and is discharged through the sand outlet and buried on the submarine cable 1 facing the sand outlet. In this embodiment, by installing a vortex machine at a position adjacent to the inlet pipe 420 in the main pipeline 410, the sand absorption rate can be increased, thereby improving the landfill efficiency of the submarine cable 1.

[0059] In this embodiment, Figure 1 As shown, the support frame 100 includes a first support rod 110 and at least two second support rods 120, the length of the first support rod 110 extends along the length direction of the cable 1, the second support rods 120 are arranged at intervals along the length direction of the first support rod 110, the first support rod 110 and the second support rod 120 are fixedly connected along the center position of their length direction, the first support rod 110 and / or the second support rod 120 are connected to the guide mechanism 300, each of the two ends of each second support rod 120 is respectively connected to a support leg 130, a moving wheel 200 is installed at the bottom of each support leg 130, the guide mechanism 300 is located between the two support legs 130 at both ends of each second support rod 120, and the sand landfill mechanism 400 is fixedly connected to the first support rod 110 and / or the second support rod 120. The support frame 100 adopts this structural design, which is convenient for installing the moving wheels 200, and the moving wheels 200 are symmetrically distributed on both sides of the cable 1, so that the movement of the support frame 100 can be more stable.

[0060] Furthermore, the anti-scour terrain vehicle for buried submarine cables of this embodiment also includes a transmission structure 500 , and both ends of each second support rod 120 are respectively connected to the corresponding support leg 130 through a set of transmission structures 500 , and the transmission structure 500 can move up and down along the support leg 130 .

[0061] When the seabed terrain is complex, the first support rod 110, the second support rod 120 and the sand and soil landfill mechanism 400 can move up and down along the support leg 130 under the action of the transmission structure 500 to adapt to different seabed terrains. Whether it is sandy, rocky or muddy seabed, it can move smoothly and effectively complete the landfill task. Multiple adjustment modes ensure that the anti-scour terrain vehicle for burying submarine cables still has efficient and stable working performance under various harsh conditions.

[0062] For example, Figure 5 As shown, the support leg 130 includes a support leg body 131 and racks 132 arranged on both sides of the support leg body 131 along the length direction of the first support rod 110; the transmission structure 500 includes a sleeve 510, a first gear 520 and a second gear 530. The sleeve 510 is sleeved on the support leg 130, and two mounting grooves 511 are concavely arranged in the sleeve 510, which are respectively opposite to the racks 132 on one side of the support leg body 131; the first gear 520 and the second gear 530 are respectively installed in one of the mounting grooves 511, and the first gear 520 and the second gear 530 are respectively meshed with the corresponding racks 132; and the two ends of the second support rod 120 are respectively fixedly connected to a sleeve 510.

[0063] When the anti-scour terrain vehicle for burying submarine cables moves along the cable 1, when a certain moving wheel 200 moves to an area with relatively high terrain, the supporting leg 130 drives the corresponding moving wheel 200 to move upward relative to the first supporting rod 110 and the second supporting rod 120, and at the same time, the rack 132 causes the first gear 520 and the second gear 530 to rotate so that the sleeve 510 and the first supporting rod 110 and the second supporting rod 120 maintain a balanced state. In the entire anti-scour terrain vehicle for burying submarine cables, except for the supporting leg 130 that can move up and down relatively due to the influence of the seabed terrain, the rest of the structure can finally maintain a balanced state, further improving the sand filling effect of the submarine cable 1.

[0064] Furthermore, if Figure 6 As shown, the guide mechanism 300 includes a positioning sleeve 310 and a plurality of rollers 320 arranged around the positioning sleeve 310, the positioning sleeve 310 is connected to the support frame 100, the submarine cable 1 is passed through the positioning sleeve 310, the axial direction of the roller 320 extends along the length direction of the second support rod 120, and the roller 320 partially protrudes from the inner wall of the positioning sleeve 310 and is in rolling contact with the outer wall of the submarine cable 1.

[0065] Specifically, the axial direction of the positioning sleeve 310 extends along the length direction of the first support rod 110, and the positioning sleeve 310 is evenly spaced along its circumference to form a plurality of mounting holes 311, and the roller 320 is installed in the mounting hole 311 through a rotating shaft, that is, both ends of the rotating shaft are rotatably connected to the two side hole walls opposite to the mounting hole 311.

[0066] Furthermore, the positioning sleeve 310 is an open-loop structure. By designing the positioning sleeve 310 as an open-loop structure, the installation convenience of the submarine cable 1 can be improved.

[0067] When the controller controls the driving part to drive the moving wheel 200 to move, the entire support frame 100 drives the positioning sleeve 310 to move along the length direction of the submarine cable 1. During the movement, the roller 320 installed in the installation hole 311 rolls in contact with the outer wall of the submarine cable 1, which can reduce the friction resistance between the positioning sleeve 310 and the submarine cable 1, avoid jamming due to excessive resistance, and improve the walking smoothness of the anti-scour terrain vehicle for burying submarine cables.

[0068] Of course, in other embodiments, the roller 320 may be replaced with a ball, which can also achieve rolling contact with the submarine cable 1.

[0069] In this embodiment, the support frame 100 further includes a connecting rod 140 , the upper end of the connecting rod 140 is connected to the intersection of the first supporting rod 110 and the second supporting rod 120 , and the lower end of the connecting rod 140 is fixedly connected to the positioning sleeve 310 .

[0070] Through this structural design, the positioning sleeve 310 can be fixed at the center position of the second support rod 120, that is, the positioning sleeve 310 is located at the midpoint of the moving wheels 200 on both sides of the submarine cable 1, thereby improving the moving stability of the anti-scour terrain vehicle for burying submarine cables and improving the sand filling effect of the submarine cable 1.

[0071] Furthermore, there are three second support rods 120, and two groups of guide mechanisms 300. The two groups of guide mechanisms 300 and the sand filling mechanisms 400 are arranged in sequence and spaced apart along the forward direction of the anti-scour terrain vehicle for burying submarine cables, and one group of guide mechanisms 300 is located between the other group of guide mechanisms 300 and the sand filling mechanism 400.

[0072] The present embodiment adopts two sets of guide mechanisms 300, which are respectively located at the midpoints of the two second support rods 120, and the two guide mechanisms 300 are located in front of the sand filling mechanism 400. The anti-scour terrain vehicle for burying the submarine cable moves forward along the submarine cable 1 under the action of the guide mechanism 300, and the sand filling mechanism 400 buries the submarine cable 1 with sand at the rear.

[0073] There are three second support rods 120, and six corresponding moving wheels 200, which are symmetrically distributed on both sides of the submarine cable 1. The three second support rods 120 are evenly spaced along the length direction of the first support rod 110. The first support rod 110 includes a first sub-support rod 111 and a second sub-support rod 112, wherein two second support rods 120 are fixedly connected to the first sub-support rod 111, and another second support rod 120 is fixedly connected to the end of the second sub-support rod 112. The main pipeline 410 of the sand filling mechanism 400 is fixedly connected to the ends of the first sub-support rod 111 and the second sub-support rod 112 on both sides of the length direction of the submarine cable 1, thereby fixing the sand filling mechanism 400 on the support frame 100.

[0074] In other embodiments, in order to further improve the installation stability of the sand landfill mechanism 400, a number of intermediate connecting parts (not shown in the figure) can be added, and the two sides of the main pipeline 410 of the sand landfill mechanism 400 can be connected to the corresponding second support rods 120 through a number of intermediate connecting parts.

[0075] In this embodiment, an acoustic wave detector 600 and a camera 700 are also included. The acoustic wave detector 600 is installed on the front end of the support frame 100 along the forward direction of the anti-scouring terrain vehicle for burying submarine cables, and is used to explore the seabed terrain in front of the anti-scouring terrain vehicle for burying submarine cables; the camera 700 is installed at the sand outlet of the sand landfilling mechanism 400. Specifically, the camera 700 is installed at the end of the outlet pipe 430 of the sand landfilling mechanism 400 away from the main pipeline 410. The camera 700 is facing the submarine cable 1. The landfill situation of the submarine cable 1 and the anti-scouring effect of sand can be clearly observed through the camera. For example, there are potholes under some submarine cables, and the sand required is higher than that of other sections. Therefore, the anti-scouring terrain vehicle for burying submarine cables needs to slow down and increase the amount of sand accumulation. This operation is manually adjusted. A cable is connected to the top of the entire device to directly connect to the ship on the sea surface. It is the power source and data transmission medium of the entire anti-scouring terrain vehicle for burying submarine cables.

[0076] In this embodiment, the controller is installed on a terrain vehicle control boat, which can be large or small. It only needs to manually observe in real time the data sent back by the anti-scour terrain vehicle for buried submarine cables, control the built-in eddy current switch of the pipeline, and control the movement speed of the anti-scour terrain vehicle for buried submarine cables.

[0077] The construction preparation work of the anti-scour terrain vehicle for buried submarine cables of this embodiment is as follows: before the submarine cable 1 is launched into the water, the anti-scour terrain vehicle for buried submarine cables has been put on the submarine cable 1 through the positioning sleeve 310, and then launched into the water together with the submarine cable 1. During this period, the anti-scour terrain vehicle for buried submarine cables can be suspended by one or more suspension ropes to be smoothly placed on the seabed. After being placed on the seabed, the top of the cable at the upper end of the anti-scour terrain vehicle for buried submarine cables is now on the submarine cable laying ship. After the top of the cable is moved to the terrain vehicle control ship, the submarine cable laying ship starts to lay the submarine cable. After the submarine cable is laid or laid for a certain distance, the anti-scour terrain vehicle for buried submarine cables starts to work.

[0078] After the construction preparation work is completed, the submarine cable burial work is carried out: the terrain vehicle control ship controls the motor of the moving wheel 200 of the anti-scour terrain vehicle for burying the submarine cable to rotate, and the anti-scour terrain vehicle for burying the submarine cable begins to move along the submarine cable 1. At the same time, both ends of the sand landfill mechanism 400 begin to suck in the sand at the sand inlet and discharge it from the sand outlet to bury the submarine cable. The operator observes the data and the camera device on the ship. When it is found that some places are not sufficiently filled, the moving speed of the anti-scour terrain vehicle for burying the submarine cable is slowed down to ensure the complete burial. After the entire submarine cable is buried, the diver goes into the water to dismantle the submarine cable positioning sleeve 310, and the terrain vehicle controls the ship to lift the cable and recover the anti-scour terrain vehicle for burying the submarine cable.

[0079] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them; although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein by equivalents; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application, and they should all be included in the scope of the claims and specification of the present application. In particular, as long as there is no structural conflict, the various technical features mentioned in the various embodiments can be combined in any way. The present application is not limited to the specific embodiments disclosed herein, but includes all technical solutions that fall within the scope of the claims.

Claims

1. An anti-scour terrain vehicle for burying submarine cables, characterized in that: include: A support frame, a plurality of moving wheels and a driving unit drivingly connected to at least one of the moving wheels, wherein the driving unit is mounted on the support frame, and the plurality of moving wheels are installed at intervals at the bottom of the support frame; A guide mechanism, which is arranged below the support frame and cooperates with the submarine cable guide, and is used to guide the movement of the terrain vehicle along the length direction of the submarine cable; A sand filling mechanism, the sand filling mechanism is installed on the support frame, the sand filling mechanism has a sand inlet and a sand outlet, the sand outlet is directly facing the submarine cable, and the sand filling mechanism is used to absorb sand from the seabed and discharge the sand through the sand outlet to bury the submarine cable; A controller is connected to the driving unit and the sand filling mechanism respectively, and is used to drive the moving wheel to move and to drive the sand filling mechanism to bury the submarine cable.

2. The anti-scour terrain vehicle for burying submarine cables according to claim 1 is characterized in that: The sand landfill mechanism comprises: A main pipeline, wherein the main pipeline is installed on the support frame, and the length of the main pipeline extends in a direction perpendicular to the submarine cable; An inlet pipe, one end of which is connected to the main pipeline, and the other end of which is inclined downward in a direction away from the submarine cable, and the sand inlet is located at the end of the inlet pipe away from the main pipeline; An outlet pipe, the outlet pipe is connected to the bottom of the main pipeline, the sand outlet is located at an end of the outlet pipe away from the main pipeline, and the sand outlet is spaced apart from the submarine cable; A vortex machine is installed in the main pipeline and located between the inlet pipe and the outlet pipe, and the vortex machine is connected to the controller.

3. The anti-scour terrain vehicle for burying submarine cables according to claim 2 is characterized in that: There are two inlet pipes, and one outlet pipe is installed at each end of the main pipeline along its length direction. There are two vortex machines, and the two vortex machines are adjacent to one of the inlet pipes respectively.

4. The anti-scour terrain vehicle for burying submarine cables according to claim 1, characterized in that: The support frame includes a first support rod and at least two second support rods, the length of the first support rod extends along the length direction of the submarine cable, the second support rods are arranged at intervals along the length direction of the first support rod, the first support rod is fixedly connected to the second support rod at the center position along the length direction thereof, the first support rod and / or the second support rod are connected to the guide mechanism, each of the two ends of the second support rod is respectively connected to a support leg, a moving wheel is installed at the bottom of each support leg, the guide mechanism is located between the two support legs at the two ends of each second support rod, and the sand landfill mechanism is fixedly connected to the first support rod and / or the second support rod.

5. The anti-scour terrain vehicle for burying submarine cables according to claim 4 is characterized in that: It also includes a transmission structure, and both ends of each of the second support rods are connected to the corresponding support legs through a group of the transmission structures, and the transmission structure can move up and down along the support legs.

6. The anti-scour terrain vehicle for burying submarine cables according to claim 5, characterized in that: The support leg comprises a support leg body and racks arranged on both sides of the support leg body along the length direction of the first support rod; The transmission structure comprises: A sleeve, wherein the sleeve is sleeved on the supporting leg, and the sleeve is concavely provided with two mounting grooves respectively facing the rack on one side; A first gear and a second gear, wherein the first gear and the second gear are respectively installed in one of the installation slots, and the first gear and the second gear are respectively meshed with the corresponding rack; Both ends of the second support rod are fixedly connected to one of the sleeves respectively.

7. The anti-scour terrain vehicle for burying submarine cables according to claim 4, characterized in that: The guiding mechanism includes a positioning sleeve and a plurality of rollers arranged around the positioning sleeve, the positioning sleeve is connected to the support frame, the submarine cable is passed through the positioning sleeve, the axial direction of the roller extends along the length direction of the second support rod, the roller portion protrudes from the inner wall of the positioning sleeve and is in rolling contact with the outer wall of the submarine cable.

8. The anti-scour terrain vehicle for burying submarine cables according to claim 7, characterized in that: The support frame also includes a connecting rod, the upper end of which is connected to the intersection of the first supporting rod and the second supporting rod, and the lower end of which is fixedly connected to the positioning sleeve.

9. The anti-scour terrain vehicle for burying submarine cables according to claim 7, characterized in that: The number of the second support rods is three, the number of the guide mechanisms is two groups, the two groups of guide mechanisms and the sand filling mechanisms are arranged in sequence at intervals along the forward direction of the terrain vehicle, and one group of the guide mechanisms is located between the other group of the guide mechanisms and the sand filling mechanisms.

10. The anti-scour terrain vehicle for burying submarine cables according to any one of claims 1 to 9, characterized in that: It also includes an acoustic wave detector and a camera. The acoustic wave detector is installed at the front end of the support frame along the forward direction of the terrain vehicle, and the camera is installed at the sand outlet of the sand landfill mechanism.

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