An anti-scour terrain vehicle for burying submarine cables

Abstract

The present invention relates to the field of offshore wind power technology, and discloses an anti-scour terrain vehicle for burying submarine cables. The vehicle comprises: a support frame, a plurality of movable wheels, a drive unit, a guide mechanism, a sand filling mechanism, and a controller. The plurality of movable wheels are spaced apart and mounted at the bottom of the support frame. The drive unit is mounted on the support frame and is drivably connected to at least one of the movable wheels. The guide mechanism is disposed below the support frame and cooperates with the submarine cable guide to guide the terrain vehicle along the length of the cable. The sand filling mechanism is mounted on the support frame and has a sand inlet and a sand outlet, with the sand outlet facing the submarine cable. The sand filling mechanism is configured to draw sand from the seabed and discharge it through the sand outlet to bury the submarine cable. The controller is respectively connected to the drive unit and the sand filling mechanism, and is configured to drive the movable wheels to move and the sand filling mechanism to bury the submarine cable. The present invention can achieve automated travel and submarine cable burying operations.

Description

Technical Field

[0001] The present 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, their long-term exposure to the seabed presents multiple threats, including biofouling, currents, and wave erosion, which can damage cables and compromise their functionality. Protecting cables from these threats is crucial to ensuring their long-term, effective operation.

[0003] The main method currently used is to cover and protect submarine cables by laying sand and gravel. This is done to prevent the cables from being attached to organisms and being damaged by currents and waves. However, existing methods have significant disadvantages. First and foremost, the biggest disadvantage is the high cost. Existing technologies rely on transporting and laying large amounts of sand and gravel from ships, which not only increases material costs but also makes the operating costs of the ships extremely high. In addition, there is a waste of resources. Burying submarine cables requires a large amount of external resources to fill the area around the cables, and the environmental pollution problem is significant. Moreover, existing methods are not well adapted to complex terrain and environments, 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, the guide mechanism being arranged below the support frame and cooperating with the submarine cable guide, and the guide mechanism being 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 being mounted on the support frame and having a sand inlet and a sand outlet, the sand outlet being directly opposite the submarine cable, the sand filling mechanism being used to suck 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 part 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 filling 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, wherein the sand inlet is located at the end of the inlet pipe away from the main pipeline;

[0014] an outlet pipe, the outlet pipe being in communication with the bottom of the main pipeline, the sand outlet being located at an end of the outlet pipe away from the main pipeline, and the sand outlet being 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. The vortex machine is connected to the controller.

[0016] As a further solution for the anti-scour terrain vehicle for burying submarine cables, the number of the inlet pipes is two, and one inlet 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 adjacent to a corresponding one of the inlet pipes.

[0017] As a further solution of an 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 at 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, and 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 filling 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 second support rod 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.

[0019] As a further solution of the anti-scour terrain vehicle for burying submarine cables, the support leg includes 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 includes:

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

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

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

[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 distributed circumferentially 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 for the anti-scour terrain vehicle for burying submarine cables, the number of the second support rods is three, and the number of the guide mechanisms is two groups. The two groups of the guide mechanisms and the sand filling mechanisms are arranged in sequence 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.

[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 filling mechanism.

[0028] Beneficial effects:

[0029] In the present invention, a controller can control the driving unit to drive the moving wheels to drive the support frame and the sand filling mechanism as a whole to move along the length of the submarine cable under the action of the guide mechanism. During the movement, the controller controls the sand filling mechanism to absorb sand at the sand inlet and fill the submarine cable. The anti-scour terrain vehicle for burying submarine cables of the present invention can autonomously move along the submarine cable, adapt to various seabed terrains, realize automated movement and burial operations, and protect the submarine cable from scouring.

[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 the sand and soil not far away 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 is 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 is highly efficient and automated, 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 whether 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 will be described in further detail below with reference to the accompanying drawings and examples.

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

[0037] Figure 3 This 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 This is a rear view schematic diagram 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 support legs according to an embodiment of the present invention.

[0040] Figure 6 Schematic diagram of the structure of the guide mechanism according to an embodiment of the present invention.

[0041] In the picture:

[0042] 1. Submarine cables;

[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 and soil landfill mechanism; 410. Main pipeline; 420. Inlet pipe; 430. Outlet pipe; 500. Transmission structure; 510. Sleeve; 511. Mounting slot; 520. First gear; 530. Second gear; 600. Acoustic wave detector; 700. Camera. DETAILED DESCRIPTION

[0044] To make the technical problems solved, the technical solutions adopted, and the technical effects achieved by the present invention more clearly understood, the technical solutions of the embodiments of the present invention will be further described in detail below with reference to the accompanying drawings. It is apparent that the described embodiments are only some of the embodiments of the present invention, not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort shall fall within the scope of protection of the present invention.

[0045] In the description of the present invention, unless otherwise expressly specified or limited, the terms "connected," "connected," and "fixed" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integration; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal communication between two components or interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention in specific circumstances.

[0046] In the present invention, unless otherwise expressly specified or 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 may include the first feature being directly above or obliquely above the second feature, or may simply mean that the first feature is higher in level than the second feature. A first feature being "below," "below," and "below" a second feature may include the first feature being directly below or obliquely below the second feature, or may simply mean that the first feature is lower in level than the second feature.

[0047] In the description of this embodiment, the terms "upper," "lower," "left," "right," and other orientations or positional relationships are based on the orientations or positional relationships shown in the accompanying drawings and are intended solely for ease of description and simplified operation. They do not indicate or imply that the devices or components referred to must have, be constructed, or operate in a specific orientation, and are therefore not to be construed as limitations on the present invention. Furthermore, the terms "first," "second," and the like are used solely for descriptive purposes and have no special meaning.

[0048] like Figures 1 to 6 As shown in FIG. 1 , the anti-scour terrain vehicle for burying submarine cables of this embodiment includes a support frame 100, moving wheels 200, a driving unit, a guide 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 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 guide mechanism 300 is arranged below the support frame 100, and the guide mechanism 300 cooperates with the submarine cable 1 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 facing the submarine cable 1. 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 connected to the driving part and the sand filling mechanism 400 respectively, 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 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 fill 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 autonomously move along the submarine cable 1 and adapt to various seabed topography. It uses surrounding sand and soil for burying, drawing sand and soil from a short distance around the submarine cable 1 for burying, eliminating the need to transport materials externally, significantly reducing material costs and environmental impact, significantly reducing the use of ships and materials, and overall lowering the construction cost of the submarine cable project.

[0052] The driving unit may be a motor mounted on a scour-proof vehicle for burying submarine cables. The motor is connected to a controller and is in driving connection with two movable wheels 200 corresponding to the sides of the submarine cable 1. In other embodiments, there are two motors, each of which is in driving connection with the two movable wheels 200 corresponding to the sides of the submarine cable 1. The details are omitted for clarity.

[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 the 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 is understood that the vortex generator is installed within the main conduit 410 and located between the inlet pipe 420 and the outlet pipe 430. It can draw sand and soil near the submarine cable 1 into the main conduit 410 through the inlet pipe 420 and discharge it through the outlet pipe 430. Because the sand and soil outlet is directly opposite the submarine cable 1, the sand and soil from the sand and soil outlet falls directly onto the submarine cable 1. By controlling the speed of the moving wheels 200 by the controller, the required buried thickness of the submarine cable 1 can be achieved. For example, if the buried thickness of the sand and soil at a certain point on the submarine cable 1 is insufficient, the controller controls the moving wheels 200 to reduce the speed, thereby increasing the buried thickness and integrity of the sand and soil at that point on the submarine cable 1 and improving the anti-scour effect of the submarine cable 1 at that point.

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

[0057] The moving wheel 200, serving as the moving component of the anti-scour terrain vehicle for buried submarine cables, is circumferentially circumferentially provided with a plurality of raised strips extending axially along the wheel 200, forming a gear-like structure. This structural design improves the wheel's grip on the sandy seabed.

[0058] Furthermore, there are two inlet pipes 420, one installed at each end of the main pipeline 410 along its length. There are also two vortex machines, one adjacent to each inlet pipe 420. The outlet pipe 430 is installed at the center of the main pipeline 410 along its length and is vertically connected to the main pipeline 410. When the controller controls the two vortex machines to operate simultaneously, the vortex machines draw sand near the sand inlet of the inlet pipe 420 into the inlet pipe 420 and move the sand away from the inlet pipe 410 along the main pipeline 410. Finally, 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, filling the submarine cable 1 opposite the sand outlet. By installing a vortex machine at each location adjacent to the inlet pipe 420 in the main pipeline 410, this embodiment can increase the sand suction rate, thereby improving the efficiency of filling 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 submarine cable 1. The second support rods 120 are spaced apart along the length direction of the first support rod 110. The first support rod 110 and the second support rod 120 are fixedly connected at the center of their length directions. The first support rod 110 and / or the second support rod 120 are connected to a guide mechanism 300. Each second support rod 120 is connected to a support leg 130 at each end. 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 each end of each second support rod 120. The sand filling 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 facilitates the installation of the moving wheels 200. The moving wheels 200 are symmetrically distributed on both sides of the submarine cable 1, making the movement of the support frame 100 more stable.

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

[0061] When the seabed topography is complex, the first and second support rods 110, 120, and the sand filling mechanism 400, driven by the transmission structure 500, can move up and down along the support legs 130 to adapt to the varying seabed topography. Whether sandy, rocky, or muddy, the vehicle can smoothly navigate and effectively complete the landfill task. Multiple adjustment modes ensure that the anti-scour terrain vehicle for submarine cable burial maintains efficient and stable performance in a variety of 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 has two mounting grooves 511 recessed therein, 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 corresponding ones of the mounting grooves 511, and the first gear 520 and the second gear 530 are respectively engaged with corresponding ones of the racks 132; and the two ends of the second support rod 120 are respectively fixedly connected to corresponding ones of the sleeves 510.

[0063] As the anti-scour terrain vehicle for burying submarine cables travels along the cable 1, when a certain moving wheel 200 reaches an area with relatively high terrain, the support leg 130 drives the corresponding moving wheel 200 to move upward relative to the first support rod 110 and the second support rod 120. Simultaneously, the rack 132 causes the first gear 520 and the second gear 530 to rotate, thereby maintaining a balanced state between the sleeve 510 and the first support rod 110 and the second support rod 120. In the entire anti-scour terrain vehicle for burying submarine cables, except for the support leg 130 that can move up and down relative to each other due to the influence of the seabed terrain, the remaining structures can ultimately 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 distributed circumferentially on 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. 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 with several mounting holes 311. The roller 320 is installed in the mounting hole 311 through a rotating shaft, that is, the two 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 support rod 110 and the second support 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 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] This 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 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, two of which are fixedly connected to the first sub-support rod 111, and the other second support rod 120 is fixedly connected to the end of the second sub-support rod 112. The main pipe 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 of the submarine cable 1, thereby fixing the sand filling mechanism 400 to 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 at the front end of the support frame 100 along the forward direction of the anti-scour terrain vehicle for burying submarine cables, and is used to explore the seabed terrain in front of the anti-scour terrain vehicle for burying submarine cables; the camera 700 is installed at the sand outlet of the sand filling mechanism 400. Specifically, the camera 700 is installed at the end of the outlet pipe 430 of the sand filling mechanism 400 away from the main pipeline 410. The camera 700 is facing the submarine cable 1. The burial condition of the submarine cable 1 and the anti-scour 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-scour 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 directly to the ship on the sea surface. It is the power source and data transmission medium of the entire anti-scour 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 requires manual real-time observation of the data sent back by the anti-scouring terrain vehicle for buried submarine cables, control of the built-in eddy current switch in the pipeline, and control of the movement speed of the anti-scouring terrain vehicle for buried submarine cables.

[0077] The construction preparations for the anti-scour terrain vehicle for buried submarine cables of this embodiment are as follows: before the submarine cable 1 is launched into the water, the anti-scour terrain vehicle for buried submarine cables is already placed on the submarine cable 1 via the positioning sleeve 310, and then launched into the water together with the submarine cable 1. During this process, the anti-scour terrain vehicle for buried submarine cables can be hoisted by one or more hoisting ropes to smoothly place it on the seabed. After being placed on the seabed, the top of the cable of the anti-scour terrain vehicle for buried submarine cables is now on the submarine cable laying vessel. After the top of the cable is moved to the terrain vehicle control vessel, the submarine cable laying vessel begins laying the submarine cable. After the submarine cable is laid or laid for a certain distance, the anti-scour terrain vehicle for buried submarine cables begins operation.

[0078] After the construction preparation work is completed, the submarine cable burial work is carried out: the terrain vehicle control ship controls the rotation of the motor of the moving wheel 200 of the anti-scour terrain vehicle for burying the submarine cable, 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 filling 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 camera equipment on the ship. When it is found that some places are insufficiently filled, the moving speed of the anti-scour terrain vehicle for burying the submarine cable is slowed down to ensure complete burial. After the entire submarine cable is buried, the diver goes into the water to remove the submarine cable positioning sleeve 310, and the terrain vehicle control ship lifts the cable to 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 make equivalent replacements for some or all of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the various 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 portion drivingly connected to at least one of the moving wheels, wherein the driving portion is mounted on the support frame, the support frame comprising a first support rod and at least two second support rods, the length of the first support rod extending along the length direction of the submarine cable, the second support rods being spaced apart along the length direction of the first support rod, the second support rod being fixedly connected to the first support rod at a center position along its length direction, each of the second support rods being connected to a support leg at each end, and a moving wheel being mounted at the bottom of each support leg; A guide mechanism, wherein the guide mechanism 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; the guide mechanism is arranged below the support frame and between the two support legs at both ends of each second support rod, the first support rod and / or the second support rod is connected to the guide mechanism, and the guide mechanism includes a positioning sleeve and a plurality of rollers distributed circumferentially on the positioning sleeve, the positioning sleeve is connected to the support frame, the submarine cable is passed through the positioning sleeve, and 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; Transmission structure, each of the two ends of the second support rod is connected to the corresponding support leg through a set of transmission structures, and the transmission structure can move up and down along the support leg; a sand filling mechanism, the sand filling mechanism being fixedly connected to the first support rod and / or the second support rod, the sand filling mechanism having a sand inlet and a sand outlet, the sand outlet facing the submarine cable, the sand filling mechanism being used to suck sand from the seabed and discharge the sand through the sand outlet to bury the submarine cable; A controller is connected to the driving part 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, 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, wherein the sand inlet is located at the end of the inlet pipe away from the main pipeline; an outlet pipe, the outlet pipe being in communication with the bottom of the main pipeline, the sand outlet being located at an end of the outlet pipe away from the main pipeline, and the sand outlet being 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. The vortex machine is connected to the controller.

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

4. The anti-scour terrain vehicle for burying submarine cables according to claim 1, 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 includes: A sleeve, the sleeve being sleeved on the supporting leg, and the sleeve being concavely provided with two mounting grooves respectively facing the racks on one side; a first gear and a second gear, wherein the first gear and the second gear are respectively installed in a corresponding one of the installation slots, and the first gear and the second gear are respectively engaged with the corresponding rack; Both ends of the second support rod are fixedly connected to a corresponding one of the sleeves.

5. The anti-scour terrain vehicle for burying submarine cables according to claim 1, characterized in that: The support frame further includes a connecting rod, the upper end of which is connected to the intersection of the first support rod and the second support rod, and the lower end of which is fixedly connected to the positioning sleeve.

6. The anti-scour terrain vehicle for burying submarine cables according to claim 1, characterized in that: There are three second support rods, and there are two groups of guide mechanisms. The two groups of guide mechanisms and the sand filling mechanisms are arranged in sequence along the forward direction of the terrain vehicle, and one group of guide mechanisms is located between the other group of guide mechanisms and the sand filling mechanisms.

7. The anti-scour terrain vehicle for burying submarine cables according to any one of claims 1 to 6, 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.

Images