Submarine cable laying robot with multi-geological adaptability

Abstract

The submarine cable laying robot comprises a main body frame, a buoyancy adjusting device is arranged at the top of the main body frame, spiral propellers are arranged on the two sides of the main body frame respectively, a cable pressing device and two spraying devices are arranged at the bottom of the main body frame, and the two spraying devices are symmetrically arranged at the bottom of the main body frame. The cable pressing device is arranged corresponding to the two spraying devices; the spiral propeller is used for driving the submarine cable laying robot to walk on the seabed, the buoyancy adjusting device is used for adjusting the buoyancy of the submarine cable laying robot on the seabed, and the two spraying devices are used for digging cable burying grooves with the corresponding depths in the corresponding positions of submarine cables in the mode of spraying high-pressure liquid. And the cable pressing device is used for pressing the cable into the cable burying groove. The device has the universality of different cable burying depth operations and the universality of different seabed geological operations, the operation efficiency and safety are improved, and the cost and the risk are reduced.

Description

Technical Field

[0001] The invention belongs to the technical field of submarine cable laying, and in particular relates to a submarine cable laying robot with multi-geological adaptability. Background Art

[0002] Currently, traditional submarine cable laying equipment has too many limitations when performing cable laying operations. It cannot automatically adjust the buoyancy of the cable laying equipment. The hardness of the seabed mud is complex, and the cable laying robot is at great risk of getting stuck in the mud when operating in soft mud. Its versatility is limited when it is necessary to dig cable trenches of different depths. Summary of the invention

[0003] The purpose of the present invention is to solve the deficiencies of the above-mentioned background technology and to provide a submarine cable laying robot with multi-geological adaptability.

[0004] The technical solution adopted by the present invention is: a submarine cable laying robot with multi-geological adaptability, comprising a main frame, a buoyancy adjustment device is arranged on the top of the main frame, screw propellers are arranged on both sides of the main frame, a cable pressing device and two injection devices are arranged at the bottom of the main frame, the two injection devices are symmetrically arranged at the bottom of the main frame, and the cable pressing device and the two injection devices are arranged correspondingly;

[0005] The buoyancy regulating device is used to adjust the buoyancy of the submarine cable laying robot on the seabed, the screw propeller is used to drive the submarine cable laying robot to walk on the seabed, the two injection devices are used to shear the cable burying groove of corresponding depth on the seabed soil by injecting high-pressure liquid at the corresponding position of the submarine cable, and the cable pressing device is used to press the cable into the cable burying groove.

[0006] Furthermore, four buoyancy regulating devices are provided, and the four buoyancy regulating devices are used to respectively adjust the buoyancy of the four sides of the submarine cable laying robot. The buoyancy regulating device includes an arranged oil sac and a pressure tank. The oil sac is connected to the pressure tank through a connecting pipe. The pressure tank stores a low-density oil medium. The buoyancy is adjusted by controlling the inflow and outflow of the oil medium in the pressure tank into the oil sac.

[0007] Furthermore, the screw propeller is a cylindrical structure with spiral blades on the outside. Both ends of the screw propeller are fixedly connected to the main frame through mounting brackets. The screw propeller is driven by a motor to rotate forward or reverse, thereby propelling the device forward.

[0008] Furthermore, the cable pressing device includes a cable pressing rod, a cable pressing arm, a telescopic hydraulic cylinder for adjusting the length of the cable pressing arm, and a rotating hydraulic cylinder for adjusting the angle of the cable pressing arm. One end of the cable pressing rod is hinged to the bottom of the main frame, one end of the cable pressing arm is sleeved inside the other end of the cable pressing rod, and the other end of the cable pressing arm is a cable pressing head for crimping the cable. One end of the telescopic hydraulic cylinder is fixed to the cable pressing rod and the other end is connected to the cable pressing head. One end of the rotating hydraulic cylinder is fixed to the main frame and the other end is fixedly connected to the cable pressing rod.

[0009] Furthermore, the spray device comprises a high-pressure spray pump and a spray arm, the high-pressure spray pump is connected to the inside of the spray arm through a liquid pipeline, and the spray arm is provided with a plurality of nozzles;

[0010] The high-pressure jet pump is used to compress seawater into high-pressure liquid. The high-pressure liquid flows into the interior of the jet arm through a liquid pipeline and is ejected from the nozzle to shear the seabed to form the cable burying groove. The depth of the jetted cable burying groove is controlled by adjusting the length of the jet arm.

[0011] Furthermore, the spray arm includes a fixed seat, a fixed spray arm, a telescopic spray arm, a length adjustment mechanism, and an angle adjustment mechanism. The angle adjustment mechanism is used to adjust the angle of the spray arm. The fixed seat is hinged on the liquid pipeline. The fixed ends of the fixed spray arm and the telescopic spray arm are both installed on the fixed seat. The length of the telescopic spray arm is greater than that of the fixed spray arm. A channel connecting the liquid pipeline with the fixed spray arm and the telescopic spray arm is provided in the fixed seat. The plurality of nozzles are arranged on the fixed spray arm and the telescopic spray arm. One end of the length adjustment mechanism is connected to the telescopic end of the telescopic spray arm, and the other end is connected to the fixed seat. One end of the angle adjustment mechanism is connected to the main frame, and the other end is connected to the fixed seat.

[0012] Furthermore, the fixed spray arm includes a plurality of fixed nozzles of different lengths, the plurality of fixed nozzles are arranged in order from short to long, the plurality of fixed nozzles are located in the same vertical plane and are arranged obliquely, the shortest fixed nozzle is located at the bottom, and the nozzle is arranged at the bottom of the plurality of fixed nozzles.

[0013] Furthermore, the telescopic spray arm includes a plurality of telescopic nozzles arranged side by side and a plurality of fixed tubes arranged coaxially, the nozzle is arranged at the bottom of the plurality of telescopic nozzles, one end of the fixed tube is connected to the fixed seat, and the other end is sleeved inside the telescopic nozzle, a sealing ring is provided on the outer wall of the other end of the fixed tube, and the sealing ring is sealed with the inner wall of the telescopic nozzle, the telescopic nozzle includes a fixed spray section and a telescopic spray section, the fixed spray section is arranged at the end of the telescopic spray section, and a mounting seat connected to one end of a length adjustment mechanism is provided on the fixed spray section, and the length adjustment mechanism can be used to adjust the length of the telescopic spray section relative to the fixed tube to achieve adjustment of the length of the telescopic spray arm.

[0014] Furthermore, the fixed seat includes a fixed plate and a triangular hinged section with a hollow interior, one end of the hinged section is hingedly connected to the liquid pipeline, the fixed spray arm, the telescopic spray arm and the end of the fixed plate are all connected to the other end of the hinged section, and the sides of the fixed spray arm and the telescopic spray arm are connected to the side of the fixed plate.

[0015] Furthermore, the main frame is provided with an electric thruster for adjusting the relative position of the submarine cable laying robot and the submarine cable, and the electric thruster includes side thrusters arranged on the four columns of the main frame and a tail thruster arranged at the tail of the submarine cable laying robot. The axes of the four side thrusters form a certain angle with the moving direction of the submarine cable laying robot, and the axis of the tail thruster is parallel to the moving direction of the submarine cable laying robot.

[0016] Furthermore, the main frame is provided with a detection component for detecting the relative position of the submarine cable laying robot and the submarine cable, the detection component includes an exogenous sensor and an endogenous sensor, the endogenous sensor is fixed on the main frame, and the exogenous sensor is arranged on the main frame through a mounting frame, the end of the mounting frame is hinged to the edge of the main frame, the mounting frame can rotate around the hinge with the main frame by 90 degrees, when the mounting frame is parallel to the horizontal plane, the exogenous sensor is parallel to the seabed plane.

[0017] The beneficial effects of the present invention are:

[0018] The present invention arranges a buoyancy regulating device, a screw propeller, a cable pressing device, a jet device, an electric propeller, a detection component and other equipment on the cable laying robot. Through the cooperation of various devices, the entire robot has the versatility to operate at different cable burying and trenching depths and at different seabed mud hardnesses (i.e., geology), thereby improving operating efficiency and safety and reducing costs and risks.

[0019] The jetting device on the cable laying robot of the present invention can dig cable burying trenches of different depths according to requirements, and has wider versatility.

[0020] The buoyancy regulating device on the cable laying robot of the present invention can adjust the buoyancy (or weight) of the robot in the sea according to the different shear force mud surfaces on the seabed, thereby reducing the risk of the robot sinking into the mud.

[0021] The screw propeller on the cable laying robot of the present invention can walk on mud surfaces with different shear forces on the seabed, and has wider applicability.

[0022] The cable pressing device on the cable laying robot of the present invention can adjust its telescopic length according to the cable burying depth to ensure the burying depth of the submarine cable, and has stronger applicability and higher efficiency.

[0023] The spray arm of the spray device on the cable laying robot of the present invention realizes telescopic length adjustment by setting two spray arm structures of a fixed spray arm and a telescopic spray arm, and the trenching depth is deeper. At the same time, cable buried trenches of different depths can be dug according to needs, and the versatility is wider; at the same time, the spray arm can perform multi-nozzle spray trenching according to actual conditions, the longer the extended part, the more nozzles, and the higher the trenching efficiency; at the same time, the two spray devices are symmetrically arranged on the main frame, and the four high-pressure jet pumps of the two spray devices can ensure the symmetry of the center of the entire robot, reduce the shaking of the robot due to unbalanced force caused by vibration during the operation, and enhance the safety during the operation and walking processes.

[0024] The electric propellers on the cable laying robot of the present invention are symmetrically installed on the frame, which can reduce the shaking of the robot caused by unbalanced force due to vibration during the operation process, and enhance the safety during the operation and walking processes. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention.

[0026] Figure 2 It is a schematic diagram of a planar structure of the present invention (the injection device is not shown completely in the figure).

[0027] Figure 3 It is another schematic diagram of the planar structure of the present invention.

[0028] Figure 4 It is a schematic diagram of a cable pressing head of the cable pressing device of the present invention.

[0029] Figure 5 It is a schematic diagram of the connection between two injection devices of the present invention.

[0030] Figure 6 It is a schematic diagram of the spray arm of the present invention extended to the longest position.

[0031] Figure 7 It is a schematic diagram of the spray arm of the present invention being retracted to the shortest position.

[0032] Figure 8 It is a partial schematic diagram of the telescopic spray arm of the spray arm of the present invention.

[0033] Fig. 9 Another partial schematic diagram of the telescopic spray arm of the spray arm of the present invention.

[0034] Fig.10 It is a schematic diagram of the detection component of the present invention.

[0035] Fig.11 It is a schematic diagram of the arrangement of the electric propeller of the present invention.

[0036] Fig.12This is a control principle diagram of the buoyancy regulating device and the screw propeller of the present invention.

[0037] Fig.13 It is a schematic diagram of buoyancy regulation of the buoyancy regulating device of the present invention.

[0038] In the figure, 1-main frame; 2-buoyancy adjustment device; 2.1-oil bag; 2.2-pressure tank;

[0039] 3-screw propeller; 3.1-mounting bracket; 3.2-motor box; 4-cable pressing device; 4.1-cable pressing rod; 4.2-cable pressing arm; 4.3-cable pressing head; 4.3.1-fixed support; 4.3.2-cable pressing plate; 4.3.3-pin shaft; 4.3.4-pulley; 4.3.5-connecting rod; 4.3.6-limiting part; 4.4-telescopic hydraulic cylinder; 4.5-rotating hydraulic cylinder; 5-injection device; 5.1-high-pressure injection pump; 5.2-injection arm; 5.3-liquid pipeline; 5.4-injection Nozzle; 5.5-fixed seat; 5.6-fixed spray arm; 5.6.1-fixed nozzle; 5.7-telescopic spray arm; 5.7.1-telescopic nozzle; 5.7.2-fixed pipe; 5.7.3-fixed spray section; 5.7.4-telescopic spray section; 5.7.5-mounting seat; 5.7.6-sealing ring; 5.8-length adjustment mechanism; 5.9-angle adjustment mechanism; 6-electric propeller; 7-detection component; 7.1-external source sensor; 7.2-endogenous sensor; 7.3-mounting frame; 8-buoyancy material. DETAILED DESCRIPTION

[0040] The specific embodiments of the present invention are further described below in conjunction with the accompanying drawings. It should be noted that the description of these embodiments is used to help understand the present invention, but does not constitute a limitation of the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0041] like Figure 1-3 As shown, the present invention provides a submarine cable laying robot with multiple geological adaptability, including a main frame 1, an underwater buoyancy adjusting device 2 is arranged on the top of the main frame 1, screw propellers 3 are arranged on both sides of the main frame 1, a cable pressing device 4 and two injection devices 5 are arranged at the bottom of the main frame 1, and the two injection devices 5 are symmetrically arranged at the bottom of the main frame 1. The buoyancy adjusting device 2 is used to adjust the buoyancy of the submarine cable laying robot on the seabed, the screw propeller 3 is used to drive the submarine cable laying robot to walk on the seabed, the two injection devices 5 are used to shear the seabed soil at the corresponding position of the submarine cable by spraying high-pressure liquid to form a cable burying groove of corresponding depth, and the cable pressing device 4 is used to press the cable into the cable burying groove.

[0042] The cable pressing device 4 is arranged corresponding to the two injection devices 5, that is, in the moving direction of the submarine cable laying robot, the cable pressing arm 4.2 of the cable pressing device 4 and the two injection arms 5.2 of the two injection devices 5 are all arranged vertically, and the cable pressing arm 4.2 is located in the middle of the two injection arms 5.2; in the moving direction perpendicular to the submarine cable laying robot, the cable pressing arm 4.2 and the injection arms are both arranged obliquely, and the angles A and B between the axis of the cable pressing arm 4.2 and the axis of the two injection arms 5.2 and the horizontal line meet certain conditions, and preferably the difference between A and B is 8 degrees, so as to ensure the effect of the cable pressing device pressing the cable into the cable buried groove.

[0043] In some embodiments, the buoyancy regulating device 2 is provided with four, each of which includes an oil bag 2.1 and a pressure tank 2.2 arranged up and down, the oil bag 2.1 is connected with the pressure tank 2.2 through a connecting pipe, and the pressure tank 2.2 stores a low-density oil medium. By controlling the inflow and outflow of the oil medium in the pressure tank to the oil bag 2.1, the volume of the bag can be changed according to the demand to provide different buoyancy requirements. In actual application, the robot automatically adjusts the buoyancy according to the vertical inclination determined by the control system to keep the robot walking horizontally, and can adjust the weight of the robot in the sea according to the different shear force mud surface of the seabed to reduce the risk of the robot falling into the mud. A buoyancy material 8 is also provided above the buoyancy regulating device 2, and the buoyancy of the submarine cable laying robot on the seabed is ensured by the buoyancy material and the buoyancy regulating device.

[0044] In some embodiments, the screw propeller 3 includes two, and the screw propeller 3 is a cylindrical structure with spiral blades on the outside. The two screw propellers 3 are symmetrically arranged on both sides of the bottom of the main frame 1, and the two ends of the screw propeller 3 are fixedly connected to the main frame through the mounting bracket 3.1. The screw propeller can ensure that the robot is more adaptable to walking on mud surfaces with different shear forces on the seabed, and can walk on both soft and hard mud surfaces. The screw propeller 3 can be driven by the motor in the motor box 3.2 to perform forward and reverse operation, ensuring that the robot can move forward and backward, and the trenching efficiency is higher and safer. At the same time, horizontal steering operations can be performed on the seabed surface to increase the flexibility of the robot's horizontal walking.

[0045] In some embodiments, the cable pressing device 4 includes a cable pressing rod 4.1, a cable pressing arm 4.2, a telescopic hydraulic cylinder 4.4 for adjusting the length of the cable pressing arm, and a rotating hydraulic cylinder 4.5 for adjusting the angle of the cable pressing arm. One end of the cable pressing rod 4.1 is hinged to the bottom of the main frame 1, one end of the cable pressing arm 4.2 is sleeved inside the other end of the cable pressing rod 4.1, and the other end of the cable pressing arm 4.2 is a cable pressing head 4.3 for crimping cables. One end of the telescopic hydraulic cylinder 4.4 is fixed to the cable pressing rod 4.1 and the other end is connected to the cable pressing head 4.3. One end of the rotating hydraulic cylinder 4.5 is fixed to the main frame 1 and the other end is fixedly connected to the cable pressing rod 4.1. Figure 4As shown, the cable pressing head 4.3 includes a fixed support 4.3.1 and two arc-shaped cable pressing plates 4.3.2. The top of the fixed support 4.3.1 is connected to the other end of the telescopic hydraulic cylinder 4.4. The two cable pressing plates 4.3.2 are arranged in parallel and spaced apart at the bottom of the fixed support 4.3.1. The two cable pressing plates 4.3.2 are arranged vertically. The two cable pressing plates 4.3.2 are connected by a pin 4.3.3 and a connecting rod 4.3.5. A pulley 4.3.4 is sleeved on the pin 4.3.3. The pulley 4.3.4 can reduce the friction between it and the cable. The bottom side of the cable pressing plate is provided with a limit portion 4.3.6 inclined outward to limit the cable deviation. The limit portion 4.3.6 is composed of a plurality of rod-shaped components.

[0046] In some embodiments, the jet device 5 includes a high-pressure jet pump 5.1 and a jet arm 5.2, wherein two high-pressure jet pumps 5.2 are provided and are arranged at intervals on the main frame 1. The provision of two high-pressure jet pumps can improve the efficiency of compressing seawater and improve reliability; the four high-pressure jet pumps on both sides can also ensure the symmetry of the center of the entire robot, reduce the shaking of the robot due to unbalanced force caused by vibration during the operation process, and enhance the safety during the operation and walking process. The high-pressure jet pump is a centrifugal electric pump, and the high-pressure jet pump 5.2 is connected to the inside of the jet arm 5.2 through a liquid pipeline 5.3, and the jet arm 5.2 is provided with a plurality of nozzles 5.4; Figure 5 As shown, a conducting pipe 5.3.1 is provided between the two spray arms 5.2, and the conducting pipe 5.3.1 connects the liquid pipes of the two spray devices to improve the structural stability. The high-pressure jet pump 5.2 is used to compress seawater into high-pressure liquid, which flows into the inside of the spray arm 5.2 through the liquid pipe 5.3 and is sprayed from the nozzle 5.4 to shear the seabed to form the cable burying groove. The depth of the excavated cable burying groove is controlled by adjusting the length of the spray arm 5.2.

[0047] It is understandable that if Figure 6-9As shown, the spray arm 5.2 includes a fixed seat 5.5, a fixed spray arm 5.6, a telescopic spray arm 5.7, a length adjustment mechanism 5.8 and an angle adjustment mechanism 5.9. The fixed seat 5.5 is hinged on the liquid pipeline 5.3. The fixed ends of the fixed spray arm 5.6 and the telescopic spray arm 5.7 are both installed on the fixed seat 5.5. The length of the telescopic spray arm 5.7 is greater than that of the fixed spray arm 5.6. The telescopic spray arm 5.7 is arranged side by side with the fixed spray arm 5.6 and is spaced a certain distance apart, so that when the telescopic spray arm 5.7 is retracted, the nozzle on the telescopic spray arm 5.7 can be stored. The fixed seat 5.5 is provided with a liquid pipeline connecting with the fixed spray arm 5.6, the telescopic spray arm 5.7 and the fixed spray arm 5.6. The channel of the spray arm 5.7, the plurality of nozzles 5.4 are arranged on the fixed spray arm 5.6 and the telescopic spray arm 5.7, the axes of the plurality of nozzles 5.4 are kept consistent, one end of the length adjustment mechanism 5.8 is connected to the telescopic end of the telescopic spray arm 5.7, and the other end is connected to the fixed seat 5.5, and the length of the spray arm is adjusted by adjusting the length of the telescopic spray arm by the length adjustment mechanism 5.8; the angle adjustment mechanism 5.9 is used to adjust the angle between the spray arm 5.2 and the horizontal line, the angle adjustment device 5.9 is a telescopically adjustable hydraulic cylinder, one end of the angle adjustment mechanism 5.9 is connected to the main frame 1, and the other end is connected to the fixed seat 5.5.

[0048] It can be understood that the fixed spray arm 5.6 includes a plurality of fixed nozzles 5.6.1 of different lengths, and the plurality of fixed nozzles 5.6.1 are arranged in order from short to long, and the plurality of fixed nozzles 5.6.1 are located in the same vertical plane and are arranged obliquely, with the shortest fixed nozzle being located at the bottom, and the nozzle is arranged at a position where the bottom of the plurality of fixed nozzles is not covered by the corresponding shorter fixed nozzles. The telescopic spray arm 5.7 comprises a plurality of telescopic nozzles 5.7.1 arranged side by side and a plurality of coaxially arranged fixed tubes 5.7.2, the nozzle 5.4 is arranged at the bottom of the plurality of telescopic nozzles 5.7.1, one end of the fixed tube 5.7.2 is connected to the fixed seat 5.5 and the other end is sleeved inside the telescopic nozzle 5.7.1, a sealing ring 5.7.6 is provided on the outer wall of the other end of the fixed tube 5.7.2, and the sealing ring 5.7.6 is sealed with the inner wall of the telescopic nozzle 5.7.1, the telescopic nozzle 5.7.1 comprises a fixed spray section 5.7.3 and a telescopic spray section 5.7.4, the fixed spray section 5.7.3 is arranged at the end of the telescopic spray section 5.7.4, a mounting seat 5.7.5 connected to one end of a length adjustment mechanism is provided on the fixed spray section 5.7.3, and the length of the telescopic spray section 5.7.4 relative to the fixed tube 5.7.2 can be adjusted by the length adjustment mechanism 5.8, thereby adjusting the length of the telescopic spray arm 5.7. The sealing ring 5.7.6 on the fixed tube 5.7.2 can ensure that after the telescopic injection section is adjusted (the length of the injection arm is shortened), the corresponding nozzle is sealed (i.e. the nozzle is separated from the inside of the fixed tube), so that the high-pressure liquid does not spray out from the nozzle 5.4.1 at the shortened position, but only sprays out from the nozzle 5.4.2 that has not been sealed, thereby reducing the number of nozzles (adjusting the length of the injection arm).

[0049] It can be understood that the fixed seat 5.5 includes a fixed plate 5.5.2 and a triangular hinged section 5.5.1 with a hollow interior, one end of the hinged section 5.5.1 is hingedly connected to the liquid pipeline 5.3, the ends of the fixed spray arm 5.6, the telescopic spray arm 5.7 and the fixed plate 5.5.2 are all connected to the other end of the hinged section 5.5.1, and the sides of the fixed spray arm 5.6 and the telescopic spray arm 5.7 are connected to the sides of the fixed plate 5.5.2.

[0050] In some embodiments, it also includes an electric propeller 6 and a detection component 7, both of which are integrated on the main frame 1; the detection component 7 is used to detect the relative position of the submarine cable laying robot and the submarine cable, and the electric propeller 6 is used to adjust the relative position of the submarine cable laying robot and the submarine cable according to the detection result of the detection component 7. Fig.10As shown, the electric propeller 6 is respectively arranged at the four corners of the main frame (on the sides of the four columns) and the tail of the submarine cable laying robot. The electric propeller adopts a blade structure. The axes of the electric propellers (6.1-6.4) located at the four corners of the main frame form a 45° angle with the travel direction of the submarine cable laying robot. The axes of the electric propellers (6.5, 6.6) located at the tail of the submarine cable laying robot are parallel to the travel direction of the submarine cable laying robot. This combination of propellers can provide the robot with power in six directions to ensure that the robot can walk in six directions. The detection component 7 is arranged at the head of the robot, as shown in FIG. Fig.11 As shown, it includes an exogenous sensor 7.1 and an endogenous sensor 7.2. The endogenous sensor 7.2 is fixed on the main frame 1. The exogenous sensor 7.1 is set on the main frame 1 through a mounting frame 7.3. The end of the mounting frame 7.3 is hinged to the edge of the main frame 1. A retractable hydraulic cylinder 7.4 is arranged between the mounting frame 7.3 and the main frame 1. The hydraulic cylinder can drive the mounting frame to rotate 90 degrees around the hinge between the mounting frame and the main frame. When the mounting frame is parallel to the main frame, the exogenous sensor 7.1 faces the seabed plane. The cable is searched and tracked by the detection component. The cable search and tracking method is a combination of endogenous and exogenous sources. Compared with a single endogenous source or a single exogenous source, the cable search and tracking of the present invention is more efficient and the cable search and tracking position is more accurate.

[0051] In some embodiments, the adjustment and control of the buoyancy adjustment device 2, the screw propeller 3, the cable pressing device 4, the two injection devices 5, the electric propeller 6 and the detection component 7 are controlled by the control unit to realize the cable laying operation. The control unit can be a control system externally installed on a ship or other equipment, or it can be a control system of the robot itself. The specific process is as follows:

[0052] The buoyancy regulating device 2 expands the oil bag 2.1 to a set volume according to a set value to ensure buoyancy in water.

[0053] The robot flies to its destination in the water using six electric thrusters according to control instructions.

[0054] The hydraulic cylinder 7.4 in the detection component 7 is actuated to make the mounting frame 7.3 in a horizontal position. The endogenous sensor 7.2 and the exogenous sensor 7.1 perform cable search and tracking according to the algorithm to determine the specific position and direction of the submarine cable. The robot adjusts its posture according to the position and direction of the submarine cable until it is consistent with the posture during the trenching and cable burying operation.

[0055] The electric propeller 6 group stops working, the screw propeller 3 starts, and the high-pressure jet pump 5.1 starts.

[0056] The angle adjustment mechanism 5.9 of the spray arm 5.2 is actuated until the entire spray arm 5.2 rotates to a set angle, and then the length adjustment mechanism 5.8 is actuated, and the spray arm 5.2 is extended to a set position, that is, positioned to a required digging depth.

[0057] The rotary hydraulic cylinder 4.5 of the cable pressing device 4 starts to move until the entire cable pressing arm rotates to a set angle, and then the telescopic hydraulic cylinder 4.4 moves, and the cable pressing arm extends to a set position, that is, positioned to the position where the cable pressing is required;

[0058] After the robot reaches the seabed mud surface, it adjusts the buoyancy of the entire robot in the water according to the hardness of the seabed mud to ensure operation efficiency;

[0059] Adjust the speed of the screw propeller according to the hardness of the seabed mud to ensure the speed during trenching operations and improve operating efficiency.

[0060] In some embodiments, Fig.12 As shown in the figure, the basic principle of adjusting the buoyancy adjustment device and the screw propeller is: before the robot operates, the trenching route is planned according to the seabed geological survey data, and the buoyancy (i.e., initial volume) of the four automatic buoyancy adjustment devices is preliminarily set in the control window. After reaching the seabed, the inertial navigation inside the robot will determine the robot's posture, and the sonar sensor inside the robot will measure the depth of the robot's landing point. The four automatic buoyancy adjustment devices first adjust the robot to a horizontal posture, and then adjust the depth of the robot's landing point. In combination with the hardness of the seabed mud and the depth of the landing point, the rotation speed of the screw propeller is controlled to ensure that the robot has high operating efficiency and the fuselage is stable and safe.

[0061] The buoyancy adjustment of the buoyancy adjustment device includes the buoyancy adjustment of the initial state before the robot operates, the buoyancy adjustment of the horizontal posture of the robot after landing on the seabed mud surface, and the buoyancy adjustment of the robot landing point to reach the required sinking depth value.

[0062] Buoyancy adjustment of the robot's initial state:

[0063] Before the buoyancy adjustment device is installed on the robot, the inertial navigation shows that the body posture is stable in the operating waters, that is, the robot itself is stable and does not need additional weight imbalance counterweight. The model parameters and volume V0 of the four buoyancy adjustment devices are consistent and installed symmetrically on the robot.

[0064] According to the work requirements, survey data points are selected on the trenching planning route, and more data points are selected in the key trenching area. Data points can also be selected on average based on the length of the planned route, and the average of the data points obtained is calculated to reduce errors and ensure the credibility of the data.

[0065] The robot control system defines the hardness of seabed sediment as soft sediment, medium hardness sediment, and high hardness sediment. The seabed sediment hardness level is matched according to the surveyed and processed data.

[0066] In soft mud and sand operations, in order to maintain better grip and fuselage stability, the robot's landing point is set to a deeper depth of A, and the volume of the oil bag of the buoyancy adjustment device is adjusted to V1;

[0067] For medium-hard sand, the robot will sink shallowly at the landing point, and the sinking depth is set to value B. The volume of the oil bag of the buoyancy adjustment device is adjusted to V2.

[0068] For high-hardness mud and sand, the robot’s landing point is set to sink to a depth of C, and the volume of the oil bag of the buoyancy adjustment device is adjusted to V3.

[0069] Buoyancy adjustment of the robot's horizontal posture after landing on the seabed:

[0070] After the robot landed on the seabed, the robot body tilted due to the irregular topography of the seabed. The control system automatically controlled the volume of the oil bags of the four buoyancy regulating devices (hereinafter referred to as buoyancy regulating devices) according to the inertial navigation data and the determined initial volume of the buoyancy regulating devices.

[0071] The four buoyancy adjustment devices are numbered as 1, 2, 3, and 4. The inertial navigation measurement data is processed and converted into volume data, which are respectively allocated to 1 V1′, 2 V2′, 3 V3′, and 4 V4′. The tilt data of each point is determined based on the allocated data. The system automatically adjusts the volume of the buoyancy adjustment device based on the initial state volume, so that the final allocated 4 volume values ​​are the same.

[0072] When operating with soft mud and sand hardness, V1′-V1=V2′-V1=V3′-V1=V4′-V1, which indicates that the robot body is in a horizontal posture.

[0073] When operating with moderate mud and sand hardness, V1′-V2=V2′-V2=V3′-V2=V4′-V2, indicating that the robot body is in a horizontal posture.

[0074] When operating with hard mud and sand, V1′-V3=V2′-V3=V3′-V3=V4′-V3, which indicates that the robot body is in a horizontal posture.

[0075] The inertial navigation processing data is distributed three times. The first distribution is coarse adjustment data, and the data value is generally large, that is, the rapid adjustment of volume; the second distribution is fine adjustment data, and the volume is fine-tuned according to the actual situation; the third distribution is re-inspection data, and the data is re-inspected after the robot body posture is adjusted to the level to ensure that the body of the seabed landing robot is in a horizontal posture.

[0076] like Fig.13 As shown, the volume V of No. 1, No. 2, No. 3, and No. 4 is the initial volume of the robot after landing, and the allocated volume V' of No. 1, No. 2, No. 3, and No. 4 is the adjusted volume.

[0077] Adjustment of the robot landing point sinking depth:

[0078] After the robot body is adjusted to be level, the sonar sensor starts to measure the depth of the robot's landing point. The sonar sensors are symmetrically installed at the head and tail ends of the robot. The average value is calculated based on the regional data values ​​taken at the head and tail ends, and the obtained value is the depth value H of the machine's landing point.

[0079] The robot has set the depth value A, B or C according to the hardness level of the surveyed sand. It automatically increases or decreases the volume of the four buoyancy adjustment devices based on the comparison between the actual H value and the set value H'. It ensures that the depth value after the sonar sensor measures the data is consistent with the set depth value, that is, it ensures that the robot's body posture is level when the landing point sinks into the set depth value.

[0080] The set depth value A, value B or value C can be adjusted according to the actual engineering workload and the robot's own load to ensure operating efficiency.

[0081] Adjustment of the propeller forward speed:

[0082] The propellers are symmetrically installed on both sides of the robot body. After the depth value of the robot landing point is adjusted, the propellers are ready to rotate. The robot determines the forward and reverse rotation and acceleration and deceleration of the propellers according to the positioning situation.

[0083] The forward speed value v of the screw propeller during trenching operation is set according to the mud hardness grade and the depth value of the robot landing point to set the speed value v′. The v′ value can be adjusted according to the actual engineering workload and the robot's own load to ensure operation efficiency.

[0084] The robot compares the real-time feedback of the sinking depth and the forward speed of the trenching operation with the set depth value H′ and forward speed v′ to determine conditions such as the slipping of the propeller, changes in the hardness of the mud and sand, and the robot encountering obstacles ahead. The robot system automatically adjusts the landing point depth H and the propeller rotation speed v. After the adjustment is completed, the robot continues to work.

[0085] The above are only specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed by the present invention should be included in the protection scope of the present invention. The contents not described in detail in this specification belong to the prior art known to professional and technical personnel in the field.

Claims

1. A submarine cable laying robot with multiple geological adaptability, characterized by: The invention comprises a main frame (1), wherein an underwater buoyancy regulating device (2) is arranged on the top of the main frame (1), screw propellers (3) are arranged on both sides of the main frame (1), a cable pressing device (4) and two injection devices (5) are arranged at the bottom of the main frame (1), and the two injection devices are symmetrically arranged at the bottom of the main frame (1), and the cable pressing device (4) and the two injection devices (5) are arranged correspondingly; The buoyancy regulating device (2) is used to regulate the buoyancy of the submarine cable laying robot on the seabed; the screw propeller (3) is used to drive the submarine cable laying robot to walk on the seabed; the two injection devices (5) are used to shear the seabed soil at the corresponding position of the submarine cable by injecting high-pressure liquid to form a cable burying groove of corresponding depth; and the cable pressing device (4) is used to press the cable into the cable burying groove.

2. The multi-geological adaptability submarine cable laying robot according to claim 1, characterized in that: The buoyancy regulating devices (2) are provided with four buoyancy regulating devices, which are used to respectively regulate the buoyancy of four sides of the submarine cable laying robot. The buoyancy regulating devices (2) include an arranged oil bag (2.1) and a pressure tank (2.2). The oil bag (2.1) and the pressure tank (2.2) are connected via a connecting pipe. The pressure tank (2.2) stores a low-density oil medium. The buoyancy is regulated by controlling the inflow and outflow of the oil medium in the pressure tank (2.2) into the oil bag (2.1).

3. The multi-geological adaptability submarine cable laying robot according to claim 1, characterized in that: The screw propeller (3) is a cylindrical structure with a spiral blade on the outside. The two ends of the screw propeller (3) are fixedly connected to the main frame (1) through mounting brackets (3.1). The screw propeller (3) is driven by a motor to rotate forward or reverse.

4. The multi-geological adaptability submarine cable laying robot according to claim 1, characterized in that: The cable pressing device (4) comprises a cable pressing rod (4.1), a cable pressing arm (4.2), a telescopic hydraulic cylinder (4.4) for adjusting the length of the cable pressing arm, and a rotating hydraulic cylinder (4.5) for adjusting the angle of the cable pressing arm; one end of the cable pressing rod (4.1) is hinged to the bottom of the main frame (1); one end of the cable pressing arm (4.2) is sleeved inside the other end of the cable pressing rod (4.1); the other end of the cable pressing arm (4.2) is a cable pressing head (4.3) for crimping cables; one end of the telescopic hydraulic cylinder (4.4) is fixed to the cable pressing rod (4.1) and the other end is connected to the cable pressing head (4.3); one end of the rotating hydraulic cylinder (4.5) is fixed to the main frame (1) and the other end is fixedly connected to the cable pressing rod (4.1).

5. The multi-geological adaptability submarine cable laying robot according to claim 1, characterized in that: The spray device (5) comprises a high-pressure spray pump (5.1) and a spray arm (5.2); the high-pressure spray pump (5.1) is connected to the inside of the spray arm (5.2) via a liquid pipeline (5.3); and the spray arm (5.2) is provided with a plurality of nozzles (5.4); The high-pressure jet pump (5.1) is used to compress seawater into high-pressure liquid. The high-pressure liquid flows through the liquid pipeline (5.3) to the inside of the jet arm (5.2) and is jetted out from the nozzle (5.4) to shear the seabed to form the cable burying groove. The depth of the jetted cable burying groove is controlled by adjusting the length of the jet arm (5.2).

6. The multi-geological adaptability submarine cable laying robot according to claim 5, characterized in that: The spray arm (5.2) comprises a fixed seat (5.5), a fixed spray arm (5.6), a telescopic spray arm (5.7), a length adjustment mechanism (5.8) and an angle adjustment mechanism (5.9), wherein the length adjustment mechanism (5.8) is used to adjust the length of the spray arm, and the angle adjustment mechanism (5.9) is used to adjust the angle of the spray arm. The fixed seat (5.5) is hinged to the liquid pipeline, and the fixed ends of the fixed spray arm (5.6) and the telescopic spray arm (5.7) are both installed on the fixed seat (5.5). ) is longer than the length of the fixed spray arm (5.6); a channel connecting the liquid pipeline with the fixed spray arm (5.6) and the telescopic spray arm (5.7) is provided in the fixed seat (5.5); the plurality of nozzles are arranged on the fixed spray arm (5.6) and the telescopic spray arm (5.7); one end of the length adjustment mechanism (5.8) is connected to the telescopic end of the telescopic spray arm (5.7) and the other end is connected to the fixed seat (5.5); one end of the angle adjustment mechanism (5.9) is connected to the main frame (1) and the other end is connected to the fixed seat (5.5).

7. The multi-geological adaptability submarine cable laying robot according to claim 6, characterized in that: The fixed spray arm (5.6) comprises a plurality of fixed spray pipes (5.6.1) of different lengths. The plurality of fixed spray pipes (5.6.1) are arranged in order from short to long. The plurality of fixed spray pipes (5.6.1) are located in the same vertical plane and are arranged obliquely, with the shortest fixed spray pipe being located at the bottom. The nozzle (5.4) is arranged at the bottom of the plurality of fixed spray pipes (5.6.1).

8. The multi-geological adaptability submarine cable laying robot according to claim 6, characterized in that: The telescopic spray arm (5.7) comprises a plurality of telescopic spray pipes (5.7.1) arranged side by side and a plurality of fixed pipes (5.7.2) arranged coaxially. The nozzle (5.4) is arranged at the bottom of the plurality of telescopic spray pipes (5.7.1). One end of the fixed pipe (5.7.2) is connected to a fixed seat and the other end is sleeved inside the telescopic spray pipe (5.7.1). A sealing ring (5.7.6) is arranged on the outer wall of the other end of the fixed pipe (5.7.2). The sealing ring (5.7.6) and the telescopic spray pipe (5.7.1) are connected to each other. ) inner wall seal fit, the telescopic spray pipe (5.7.1) comprises a fixed spray section (5.7.3) and a telescopic spray section (5.7.4), the fixed spray section is arranged at the end of the telescopic spray section (5.7.4), and a mounting seat (5.7.5) connected to one end of a length adjustment mechanism is provided on the fixed spray section (5.7.3), and the length of the telescopic spray section (5.7.4) relative to the fixed pipe (5.7.2) can be adjusted by the length adjustment mechanism to achieve adjustment of the length of the telescopic spray arm.

9. The multi-geological adaptability submarine cable laying robot according to claim 1, characterized in that: The main frame is provided with an electric propeller (6) for adjusting the relative position between the submarine cable laying robot and the submarine cable, the electric propeller (6) comprising side propellers arranged on four columns of the main frame and a tail propeller arranged at the tail of the submarine cable laying robot, the axes of the four side propellers form a certain angle with the moving direction of the submarine cable laying robot, and the axis of the tail propeller is parallel to the moving direction of the submarine cable laying robot.

10. The multi-geological adaptability submarine cable laying robot according to claim 1, characterized in that: The main frame is provided with a detection component (7) for detecting the relative position between the submarine cable laying robot and the submarine cable. The detection component (7) comprises an exogenous sensor (7.1) and an endogenous sensor (7.2). The endogenous sensor (7.2) is fixed on the main frame (1). The exogenous sensor (7.1) is arranged on the main frame (1) via a mounting frame (7.3). The end of the mounting frame (7.3) is hinged to the edge of the main frame (1). The mounting frame (7.3) can rotate 90 degrees around the hinge between the mounting frame and the main frame. When the mounting frame (7.3) is parallel to the horizontal plane, the exogenous sensor (7.1) is parallel to the seabed plane.

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