Submarine cable construction buried depth adjusting method and system based on adaptive control

Abstract

The invention discloses a submarine cable construction buried depth adjusting method and system based on adaptive control, and the method comprises the steps: collecting a submarine environment image through underwater high-definition imaging equipment, and generating a feature image; determining an initial penetration depth based on a preset soil analysis method; acquiring soil hardness distribution by using a hardness sensor, setting four detection points along a first detection line and a second detection line, calculating hardness deviation, and adaptively correcting the initial penetration depth to obtain an optimized penetration depth; dividing equal segments of the path by taking the optimized depth as a reference, and monitoring thrust value difference to evaluate the construction stability. The system comprises an image processing module, a depth positioning module, a depth correction module and a construction control module, and realizes image processing, depth optimization and adaptive control. According to the invention, through real-time deviation correction and resistance analysis, the challenge of soil hardness change in a high-turbidity water area is overcome, the submarine cable construction precision and stability are improved, the construction risk and maintenance cost are reduced, and the method is suitable for a complex submarine environment.

Description

Technical Field

[0001] The present invention relates to the field of marine engineering technology, and in particular to a method and system for adjusting the embedding depth of submarine cables during construction based on adaptive control. Background Art

[0002] Laying submarine cables (or submarine cables) is a crucial technology in marine engineering, widely used in power transmission, communications networks, and energy development. In highly turbid waters, traditional submarine cable construction methods face numerous challenges in controlling the depth of buried cables due to high turbidity, low visibility, and complex seabed soil conditions. Existing technologies typically rely on preset construction parameters or manual experience to adjust the buried depth, but they struggle to adapt to real-time variations in seabed soil hardness, topography, and construction resistance. This static control approach can easily lead to uneven buried depths, overloaded construction equipment, and unstable cable placement, increasing construction risks and maintenance costs.

[0003] In recent years, with the advancement of underwater imaging and adaptive control technologies, submarine cable construction methods based on real-time environmental perception and dynamic adjustment have gained increasing attention. However, existing methods still suffer from insufficient image processing accuracy, inaccurate soil hardness detection, and poor real-time depth adjustment when dealing with the complex environment of highly turbid waters. In particular, the lack of efficient adaptive control strategies to address the dynamic changes in seabed soil hardness distribution makes it difficult to accurately optimize the penetration depth and ensure stability during construction.

[0004] Therefore, there is an urgent need for a method and system for adjusting the depth of submarine cable construction based on adaptive control, which can combine seabed environment image processing in highly turbid waters, real-time monitoring of soil hardness and dynamic depth optimization technology to achieve precise control of the depth of submarine cable construction and improve construction stability to meet the needs of complex seabed environments. Summary of the Invention

[0005] The purpose of the present invention is to provide a method and system for adjusting the burial depth of submarine cables based on adaptive control, aiming to solve the problems of uneven burial depth, overload of construction equipment and unstable submarine cable burial caused by traditional submarine cable construction methods in highly turbid waters due to reliance on preset parameters or manual experience, overcome the challenges of low visibility and dynamic changes in soil hardness in highly turbid waters, and achieve precise adaptive control of burial depth and effective guarantee of construction stability by combining seabed environment image processing, real-time soil hardness monitoring and dynamic depth optimization technology, thereby reducing construction risks, reducing maintenance costs and improving the efficiency and reliability of submarine cable laying.

[0006] To achieve the above-mentioned purpose, specifically, a method for adjusting the depth of submarine cable construction based on adaptive control includes the following steps: obtaining a seabed environment image of highly turbid waters and generating a feature image corresponding to the seabed environment image; Determining the initial depth of the seabed soil in the characteristic image based on a preset soil analysis method; Acquiring real-time deviation information between the initial burial depth and the hardness distribution of seabed soil, and adaptively correcting the initial burial depth based on the deviation information to obtain an optimized burial depth; Based on the optimized burial depth, the submarine cable construction equipment is adaptively controlled to obtain stability information of the submarine cable burial construction.

[0007] Furthermore, the step of acquiring a seabed environment image of a highly turbid water area and generating a feature image corresponding to the seabed environment image includes: Use underwater high-definition imaging equipment to collect images of the seabed environment in highly turbid waters; performing denoising and feature enhancement processing on the seabed environment image; Edge detection is performed on the seabed environment image after feature enhancement processing to obtain the feature image.

[0008] Furthermore, the step of determining the initial embedding depth of the seabed soil in the characteristic image based on a preset soil analysis method includes: Extracting soil characteristics from the feature image based on a preset soil analysis method to identify the hardness distribution and topographic undulations of the seabed soil; According to the hardness distribution and the terrain undulation, an initial burial depth is generated by using a depth optimization algorithm; When the initial burial depth meets the preset construction feasibility condition, it is used as the initial burial depth; otherwise, a prompt message indicating that the depth planning has failed is output.

[0009] Furthermore, the step of obtaining real-time deviation information between the initial burial depth and the seabed soil hardness distribution, and adaptively correcting the initial burial depth according to the deviation information to obtain the optimized burial depth includes: Setting a first detection line and a second detection line along the construction path based on the initial burial depth, wherein the first detection line intersects the soil hardness distribution at a first detection point and a second detection point, and the second detection line intersects the soil hardness distribution at a third detection point and a fourth detection point; Calculating the hardness deviations between the initial burial depth and the first detection point, the second detection point, the third detection point, and the fourth detection point as real-time deviation information; According to the real-time deviation information, the initial burial depth is adaptively corrected using the following formula: in, To optimize the burial depth, is the initial burial depth, is the weight coefficient of the i-th detection point, is the hardness deviation of the i-th detection point; Iterative adjustment is performed until the hardness deviation meets the preset threshold and the optimized soil penetration depth is obtained.

[0010] Furthermore, the step of adaptively correcting the initial burial depth according to the real-time deviation information further includes: Adjusting the initial burial depth along the direction of the first detection line until the initial burial depth is balanced with the hardness deviation between the first detection point and the second detection point; The adjusted burial depth is adjusted along the direction of the second detection line until the burial depth is balanced with the hardness deviations of the third detection point and the fourth detection point, thereby determining the optimized burial depth.

[0011] Furthermore, the step of adaptively controlling the submarine cable construction equipment based on the optimized burying depth to obtain stability information of the submarine cable burying construction includes: Based on the optimized embedment depth, the submarine cable construction path is divided into a preset number of equal segments; The construction resistance information of each equal segment is obtained, and the stability information of the submarine cable buried construction is determined based on the difference in the construction resistance information between the equal segments.

[0012] Furthermore, the construction resistance information includes a thrust value of the submarine cable construction equipment. The steps of obtaining the construction resistance information of each equal segment and determining the stability information of the submarine cable buried construction based on the difference in the construction resistance information between the equal segments include: Counting the thrust values ​​of each equal segment, and determining whether the difference between the thrust values ​​of each equal segment is within a preset difference range; If the difference is within the preset range, the stability information indicates that the submarine cable is stable when buried in the ground. If it is not within the preset difference range, the stability information indicates that the submarine cable buried construction is unstable.

[0013] Furthermore, the present invention also provides a submarine cable construction embedment depth adjustment system based on adaptive control, the system comprising: An image processing module is used to obtain seabed environment images in highly turbid waters and generate corresponding feature images; A depth positioning module, configured to determine an initial depth of the seabed soil in the characteristic image based on a preset soil analysis method; a depth correction module, configured to obtain real-time deviation information between the initial burial depth and the hardness distribution of the seabed soil, and adaptively correct the initial burial depth according to the deviation information to obtain an optimized burial depth; The construction control module is used to adaptively control the submarine cable construction equipment based on the optimized burial depth to obtain stability information of the submarine cable burial construction.

[0014] Furthermore, the depth correction module includes: a deviation calculation unit, configured to set a first detection line and a second detection line based on the initial burial depth, obtain a first detection point and a second detection point between the first detection line and the seabed soil hardness distribution, as well as a third detection point and a fourth detection point between the second detection line and the seabed soil hardness distribution, and calculate a hardness deviation between the initial burial depth and each detection point; The depth optimization unit is used to adaptively correct the initial burial depth according to the hardness deviation to obtain an optimized burial depth.

[0015] Furthermore, the construction control module includes: A path segmentation unit, configured to divide the submarine cable construction path into a preset number of equal segments based on the optimized burial depth; The stability analysis unit is used to obtain the construction resistance information of each equal segment and determine the stability information of the submarine cable buried construction based on the difference in construction resistance information between the equal segments.

[0016] The present invention provides a method and system for adjusting the burial depth of submarine cables during construction based on adaptive control. By acquiring an image of the seabed environment in highly turbid waters and generating a characteristic image, the initial burial depth is determined in combination with a preset soil analysis method, and adaptive correction is performed based on real-time soil hardness deviation information. This effectively solves the problems of uneven burial depth, overload of construction equipment, and unstable submarine cable burial caused by traditional methods relying on preset parameters or manual experience. By setting a first detection line and a second detection line, the hardness deviations of the first to fourth detection points are obtained and dynamically adjusted using a formula. This significantly improves the image processing accuracy, soil hardness detection accuracy, and real-time depth adjustment, overcoming the challenges of low visibility and frequent changes in soil hardness in the complex environment of highly turbid waters. At the same time, by dividing the construction path into equal segments and analyzing the differences in construction resistance, the stability of the submarine cable burial construction is accurately guaranteed, thereby reducing construction risks and subsequent maintenance costs, adapting to the construction needs of complex seabed environments, and improving the overall efficiency and reliability of submarine cable laying. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a flow chart of the method for adjusting the depth of submarine cable construction buried in the ground based on adaptive control provided by the present invention.

[0018] Figure 2 This is a flow chart of the submarine cable construction path segmentation and stability analysis method provided by the present invention.

[0019] Figure 3 This is a structural schematic diagram of a submarine cable construction embedment depth adjustment system based on adaptive control provided by the present invention.

[0020] The realization of the objectives, functional features and advantages of this application will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0021] To make the objectives, technical solutions, and advantages of this application more clear, the technical solutions of this application will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the embodiments described are only part of the embodiments of this application, not all of them. Based on the embodiments of this application, all other embodiments obtained by ordinary technicians in this field without making any creative efforts are within the scope of protection of this application.

[0022] The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the technical features indicated. Thus, features specified as "first" or "second" may explicitly or implicitly include one or more of such features; and in the description of this application, unless otherwise specified, "plurality" means two or more.

[0023] In order to more clearly illustrate the technical solution of the present invention, the present invention is described in detail below in conjunction with specific embodiments, but this should not be construed as limiting the scope of protection of the present invention.

[0024] The technical solution of the present invention is further described in detail below with reference to the accompanying drawings.

[0025] Specifically, if Figure 1 As shown, a method for adjusting the depth of submarine cable construction buried in the ground based on adaptive control is provided, which can be implemented by the following steps: Step S01: Acquire a seabed environment image of a highly turbid water area, and generate a feature image corresponding to the seabed environment image.

[0026] Understandably, acquiring images of the seabed environment is essential for precise burial depth adjustment in the complex environment of highly turbid waters. During implementation, a remotely operated vehicle (ROV) equipped with a high-resolution underwater camera cruises along the planned cable construction route at a constant speed (e.g., 0.5 m / s) to collect images of the seabed environment in highly turbid waters. These images are often affected by suspended particles and low visibility, resulting in significant noise. To generate clear feature images, the captured images are first digitally preprocessed. This involves applying a median filter algorithm to remove particle noise and preserve key topographic information. Next, adaptive histogram equalization is used to enhance image contrast and highlight the texture and boundary features of the seabed soil. Following preprocessing, the image is processed using the Sobel edge detection algorithm to extract boundary contours and surface features of the seabed soil, generating a feature image. This feature image is stored in a two-dimensional matrix format, clearly reflecting the distribution characteristics of the seabed soil and providing reliable data support for subsequent soil analysis and depth determination.

[0027] Step S02: Based on a preset soil analysis method, the initial embedding depth of the seabed soil in the characteristic image is determined.

[0028] Furthermore, based on the generated feature image, the initial embedment depth of the submarine soil is determined using a pre-set soil analysis method. Specifically, this pre-set soil analysis method utilizes a decision tree-based machine learning model. This model, trained on historical submarine soil samples, learns the correlation between soil texture, topographic characteristics, and embedment depth. The feature image is input into the model, which analyzes information such as soil surface roughness, topographic slope, and texture density to identify the submarine soil type (e.g., sandy soil, clay, or silt) and its physical properties. Based on the identification results, a depth optimization algorithm is used to calculate the initial embedment depth, taking into account the cable protection requirements and the power constraints of the construction equipment. For example, for hard sandy soil, the initial embedment depth might be set at 0.8 meters, while for softer silt, the depth might be set at 1.2 meters. If the calculated initial embedment depth exceeds the equipment tolerance (e.g., a maximum depth of 1.5 meters) or does not meet submarine cable burial safety standards (e.g., a minimum depth of 0.5 meters), an exception is recorded and processing is suspended until the model parameters are adjusted and the calculation is repeated to ensure the appropriateness and feasibility of the initial embedment depth.

[0029] Step S03: obtaining real-time deviation information between the initial burial depth and the hardness distribution of the seabed soil, and adaptively correcting the initial burial depth according to the deviation information to obtain an optimized burial depth.

[0030] Furthermore, to adapt to the dynamic changes in soil hardness in highly turbid waters, real-time monitoring is used to obtain information on the deviation between the initial burial depth and the seabed soil hardness distribution, and adaptive correction is performed. During construction, multi-point hardness sensors installed on the submarine cable construction equipment collect soil hardness data at regular intervals (e.g., every 0.3 meters) along the construction path, generating a real-time hardness distribution. The initial burial depth is compared with the real-time hardness distribution, and deviation information is calculated: specifically, the difference between the initial burial depth and the ideal depth corresponding to the hardness distribution. For example, if the initial burial depth is 1.0 meter, and the soil hardness in a certain area indicates an ideal depth of 1.1 meters, the deviation is 0.1 meter. Based on this deviation information, an adaptive control algorithm (such as proportional-integral control) is employed to iteratively adjust the burial depth parameter to minimize the deviation. For example, when the soil hardness is high, the burial depth is reduced to reduce construction resistance; when the soil is soft, the depth is appropriately increased to ensure stable cable burial. This adjustment process continues until the deviation converges to within a preset threshold (e.g., ±0.03 meters), thereby achieving the optimized burial depth. This process does not require the introduction of formulas, and dynamic correction is achieved only through deviation quantification and control algorithms to ensure the real-time and accuracy of depth adjustment.

[0031] Step S04: Adaptively controlling the submarine cable construction equipment based on the optimized burial depth to obtain stability information of the submarine cable burial construction.

[0032] Furthermore, based on the optimized embedment depth, adaptive control of submarine cable construction equipment is performed to ensure construction stability and generate corresponding stability information. Specifically, the optimized embedment depth is converted into control instructions for the construction equipment, and the equipment's downforce and propulsion speed are adjusted via a programmable logic controller (PLC). For example, in an area with an optimized embedment depth of 1.0 meter, the plow-type embedding machine's coulter depth and hydraulic thrust are adjusted to ensure accurate submarine cable embedment. During the construction process, pressure sensors monitor the construction resistance in real time, and displacement sensors record the deviation between the actual embedment depth and the optimized depth. If the resistance fluctuation is within a preset range (e.g., ±8%), the construction is deemed stable, and stability information is generated, including a stability index (e.g., 0.9, indicating high stability). If the resistance fluctuation exceeds this range, an unstable state is recorded, a low stability index (e.g., 0.3) is generated, and the operator is prompted to check the equipment or adjust parameters. This control process enables precise adaptive adjustment of construction equipment, ensuring the stability and reliability of submarine cable embedment in highly turbid waters.

[0033] This embodiment achieves precise adjustment of the burial depth of submarine cables in highly turbid waters by acquiring seabed environment images to generate characteristic images, determining the initial burial depth based on soil analysis, obtaining the optimized burial depth through real-time deviation correction, and using adaptive control equipment. This overcomes the limitations of traditional methods and provides efficient and reliable technical support for submarine cable construction.

[0034] In some embodiments, the steps of obtaining a seabed environment image of highly turbid waters and generating a feature image corresponding to the seabed environment image include: using underwater high-definition imaging equipment to collect a seabed environment image of highly turbid waters; performing denoising and feature enhancement processing on the seabed environment image; and performing edge detection on the seabed environment image after feature enhancement processing to obtain the feature image.

[0035] Specifically, in the complex environment of highly turbid waters, acquiring high-quality images of the seabed environment is a prerequisite for subsequent feature extraction and depth adjustment. During implementation, a remotely operated vehicle (ROV) equipped with high-resolution underwater imaging equipment (e.g., a 4K resolution underwater camera) cruises along the planned cable construction route in highly turbid waters at a constant speed (e.g., 0.4 m / s) to collect images of the seabed environment. To address the low visibility caused by suspended particles in highly turbid waters, the imaging equipment is equipped with a high-brightness LED light source to enhance illumination, ensuring that images capture the texture and topographic details of the seabed soil. During acquisition, image data is recorded at a fixed frequency (e.g., 5 frames per second) and transmitted to a surface control center via a real-time transmission module. The captured images are stored in a high-resolution format (e.g., JPEG or RAW) and contain information on seabed surface features, topographic relief, and possible obstacles, providing reliable raw data for subsequent processing.

[0036] To improve image quality and facilitate feature extraction, the collected seafloor environmental images undergo denoising and feature enhancement. Specifically, denoising is first performed using a bilateral filtering algorithm, which effectively removes random noise caused by suspended particles while preserving edges and texture details of the seafloor soil. During the denoising process, the filter window size (e.g., 5×5 pixels) and spatial standard deviation (e.g., 2.0) are set to balance noise suppression and detail preservation. After denoising, feature enhancement is performed using adaptive histogram equalization, which adjusts the image's grayscale distribution to enhance the contrast of soil texture and topographic features. For example, areas with low grayscale values ​​are enhanced by stretching the grayscale range, making the surface roughness and boundary features more prominent. The processed images are stored in grayscale format, ensuring that the subsequent edge detection step can accurately identify soil features.

[0037] As can be understood, to generate a feature image that reflects the distribution of seabed soil, edge detection is performed on the denoised and feature-enhanced seabed environmental image. Specifically, the Canny edge detection algorithm is used. First, the image is further smoothed using a Gaussian filter to reduce residual noise. Then, the image gradient strength and direction are calculated to identify soil boundaries. A dual threshold (e.g., a low threshold of 50 and a high threshold of 150) is set to screen for significant edge features, connecting discontinuous edges and removing weak edges to generate clear edge contours. The edge detection results are output as a binary image, where white pixels represent soil boundaries or areas of topographic variation, and black pixels represent uniform areas. This binary image, known as the feature image, clearly displays the contours, texture distribution, and topographic relief of the seabed soil, providing accurate data support for subsequent soil analysis and determination of burial depth. The feature image is stored in a matrix format (e.g., 1024×1024 pixels) for easy processing and analysis.

[0038] In some embodiments, the step of determining the initial burial depth of the seabed soil in the feature image based on a preset soil analysis method includes: extracting soil characteristics of the feature image based on the preset soil analysis method, identifying the hardness distribution and terrain undulations of the seabed soil; using a depth optimization algorithm to generate an initial burial depth based on the hardness distribution and terrain undulations; when the initial burial depth meets the preset construction feasibility conditions, it is used as the initial burial depth; otherwise, outputting a prompt message indicating that the depth planning failed.

[0039] Specifically, to determine the initial burial depth of the submarine soil, a pre-defined soil analysis method was first used to extract soil characteristics from the feature image to identify the hardness distribution and topographic relief of the submarine soil. During implementation, a pre-defined soil analysis model based on the random forest algorithm was loaded. This model, trained on a large number of submarine soil sample training data, established a mapping relationship between pixel features in the feature image and soil physical properties. The feature image was input into the model to extract soil texture features (such as texture density and directionality), grayscale variations, and edge distribution information. By analyzing these features, the hardness distribution of the submarine soil was identified, for example, classifying the soil into soft silt (hardness <50 kPa), medium-hard clay (hardness 50-150 kPa), and hard sand (hardness >150 kPa). Simultaneously, topographic relief was calculated using edge features to identify areas of varying slope (e.g., slopes >5°) and flat regions. This hardness distribution and topographic relief information was stored in a two-dimensional grid (e.g., a 100×100 grid), with each grid cell recording the corresponding hardness and slope value, providing accurate soil property data for subsequent depth optimization.

[0040] Furthermore, based on the identified hardness distribution and terrain undulation, a depth optimization algorithm is used to generate an initial burial depth. This optimization algorithm employs a weighted objective function, comprehensively considering cable burial safety requirements, the power limitations of construction equipment, and the effects of soil hardness and terrain. The objective function aims to minimize construction resistance and ensure cable protection. For example, the burial depth in hard soil is set to a shallower depth (e.g., 0.7 meters) to reduce equipment load, while the burial depth in soft soil is set to a deeper depth (e.g., 1.3 meters) to enhance cable stability. For areas with significant terrain undulation, the depth is appropriately adjusted to avoid uneven equipment stress. For example, in areas with a slope greater than 5°, the depth may be reduced by 0.1 meters to accommodate the terrain variations. An iterative calculation optimizes the objective function to generate an initial burial depth, which is stored as a depth distribution curve along the construction path (e.g., a depth value is recorded every meter). This algorithm ensures that the generated initial burial depth balances construction efficiency and cable protection requirements while adapting to varying soil types and terrain conditions.

[0041] To ensure the feasibility of the initial burial depth, the generated initial burial depth is verified to determine whether it meets pre-set construction feasibility conditions. Specifically, these conditions include: the initial burial depth is within the permitted range of the construction equipment (e.g., 0.5 to 1.5 meters), the depth change rate does not exceed the equipment's adjustment capability (e.g., depth change <0.2 meters per meter), and the minimum protection depth for submarine cable burial is met (e.g., 0.5 meters). The depth distribution curve is checked point by point to verify whether the depth of each construction point meets these conditions. If the depths of all points meet the conditions, the depth distribution curve is confirmed as the initial burial depth and stored as a control parameter for subsequent construction. If the depth of any point exceeds the feasibility conditions (e.g., a depth of 1.6 meters at a point exceeds the equipment's maximum depth), the depth planning is deemed a failure, and a prompt message is displayed on the display interface of the surface control center. The prompt includes the location of the failed point, the depth value, and the specific exceeded parameters (e.g., "Location X = 100 meters, depth 1.6 meters, exceeds the maximum depth limit"). At the same time, subsequent operations are suspended, waiting for the operator to adjust the soil analysis parameters or replan the path until an initial soil penetration depth that meets the conditions is generated.

[0042] In some embodiments, the step of obtaining real-time deviation information between the initial burial depth and the seabed soil hardness distribution, and adaptively correcting the initial burial depth based on the deviation information to obtain the optimized burial depth includes: Setting a first detection line and a second detection line along the construction path based on the initial burial depth, wherein the first detection line intersects the soil hardness distribution at a first detection point and a second detection point, and the second detection line intersects the soil hardness distribution at a third detection point and a fourth detection point; As can be understood, to obtain real-time deviation information between the initial burial depth and the seabed soil hardness distribution, two detection lines are set along the construction path, based on the initial burial depth, to monitor the spatial distribution of soil hardness. During implementation, based on the initial burial depth curve (e.g., a depth value per meter along the path), a first detection line and a second detection line are generated within the transverse plane of the construction path. The first detection line is set vertically along the left side of the path, and the second detection line is set vertically along the right side of the path. The two detection lines are spaced a fixed distance (e.g., 1 meter) apart to cover soil hardness variations in the construction area. Hardness sensors installed on the submarine cable construction equipment measure soil hardness along the first and second detection lines, respectively, and their intersection points with the soil hardness distribution are determined. Specifically, the intersection points of the first detection line with the soil hardness distribution are the first and second detection points, representing two key locations of soil hardness variation on the left side (e.g., hardness mutation points or boundary points). The intersection points of the second detection line with the soil hardness distribution are the third and fourth detection points, representing corresponding locations of soil hardness on the right side. The hardness value of each test point is recorded by the sensor in kPa (for example, the hardness of the first test point is 60 kPa, and the hardness of the second test point is 80 kPa) and stored together with the coordinate information of the corresponding position to form a four-point data set of hardness distribution, providing accurate real-time data for subsequent deviation calculation.

[0043] Further, calculating the hardness deviations between the initial burial depth and the first detection point, the second detection point, the third detection point, and the fourth detection point respectively as real-time deviation information; Furthermore, based on the hardness values ​​of the first detection point, the second detection point, the third detection point and the fourth detection point, the initial burial depth and the hardness deviation of these detection points are calculated to generate real-time deviation information. In specific implementation, the hardness value of each detection point is first converted into the corresponding ideal burial depth based on the empirical relationship model between soil hardness and burial depth. For example, based on the preset model, a hardness of 60 kPa corresponds to an ideal depth of 1.0 meter, and a hardness of 80 kPa corresponds to an ideal depth of 0.9 meter. The initial burial depth (for example, 1.1 meters for a certain path point) is compared with the ideal depth of each detection point to calculate the hardness deviation For example, if the ideal depth of the first detection point is 1.0m and the initial burial depth is 1.1m, then = 1.1 -1.0 = 0.1m; Similarly, calculate the deviations of the second, third, and fourth detection points (such as = 0.15 m, = -0.1 m, = -0.05 m). These deviation values ​​are stored in array form as real-time deviation information, reflecting the degree of mismatch between the initial burial depth and the actual soil hardness distribution, providing a quantitative basis for subsequent adaptive corrections.

[0044] According to the real-time deviation information, the initial burial depth is adaptively corrected using the following formula: in, To optimize the burial depth, is the initial burial depth, is the weight coefficient of the i-th detection point, is the hardness deviation of the i-th detection point; iterative adjustment is performed until the hardness deviation meets the preset threshold to obtain the optimized burial depth.

[0045] It can be understood that the initial burial depth is adaptively corrected by using the real-time deviation information through the specified formula to obtain the optimized burial depth. During the implementation process, the preset weight coefficient k is loaded. i These coefficients are determined according to the location and importance of the inspection points. For example, inspection points close to the center of the construction path have higher weights (such as k1 = k3 = 0.3), while inspection points far from the center have lower weights (such as k2 = k4 = 0.2). Based on the formula , calculate the adjustment amount. For example, if the initial burial depth = 1.1 m, the deviation is = 0.1 m, = 0.15 m, = -0.1 m, =-0.05 m, weight coefficients are k1 = 0.3, k2 = 0.2, k3 = 0.3, k4 = 0.2, then the adjustment amount is 0.3 0.1+ 0.2 0.15 + 0.3 (-0.1) + 0.2 (-0.05) = 0.03 - 0.03 - 0.01 = -0.01 m, the optimal burial depth is = 1.1 - 0.01 = 1.09 meters. Iterative calculation, each update And re-obtain the hardness deviation of the test point until all The absolute value of is less than the preset threshold (such as 0.02 meters). Finally, the optimized soil penetration depth (such as 1.09 meters) is output and stored as the depth control parameter along the construction path, ensuring that the depth adjustment adapts to the real-time changes in soil hardness.

[0046] Through the description of the above specific embodiments, the present invention obtains four-point hardness data by setting the first detection line and the second detection line, calculates the initial burial depth and the hardness deviation of the detection point, and uses the formula for adaptive correction, thereby overcoming the challenge of dynamic changes in soil hardness in highly turbid waters, achieving precise optimization of the burial depth, and providing efficient and reliable depth adjustment support for submarine cable construction.

[0047] In some embodiments, the step of adaptively correcting the initial burial depth according to the real-time deviation information further includes: Adjusting the initial burial depth along the direction of the first detection line until the initial burial depth is balanced with the hardness deviation between the first detection point and the second detection point; As can be understood, to achieve adaptive correction of the initial burial depth, the initial burial depth is first adjusted along the first detection line based on real-time deviation information to equalize the hardness deviation between the first and second detection points. During implementation, the hardness deviation data for the first and second detection points, acquired by the hardness sensor, is used. For example, if the hardness deviation at the first detection point is 0.12 meters (indicating that the initial burial depth is 0.12 meters deeper than the ideal depth), and the hardness deviation at the second detection point is 0.18 meters (indicating a depth of 0.18 meters), the depth is adjusted vertically along the first detection line (typically, horizontally to the left of the construction path) based on the initial burial depth (e.g., 1.1 meters). The goal is to minimize the hardness deviation between the first and second detection points. The average of the two deviations is calculated ((0.12 + 0.18) / 2 = 0.15 meters), and the initial burial depth is adjusted to 1.1 meters minus 0.03 meters, or 1.07 meters, to bring the deviations at the first and second detection points closer to 0.15 meters. The adjustment process is implemented using a proportional control algorithm that updates the hardness sensor data in real time and checks whether the difference between the two points is less than a preset equilibrium threshold (e.g., 0.01 meter). If the difference is large, the depth is fine-tuned until the hardness deviations at the first and second test points are balanced, generating the intermediate adjusted depth.

[0048] Furthermore, the adjusted burial depth is adjusted along the direction of the second detection line until the burial depth is balanced with the hardness deviations of the third detection point and the fourth detection point, thereby determining the optimized burial depth.

[0049] Specifically, after adjusting the direction of the first test line, adjustments are made along the second test line (typically horizontally to the right side of the construction path) based on the intermediate adjusted burial depth (e.g., 1.07 meters) to equalize the hardness deviations at the third and fourth test points, thereby determining the optimal burial depth. During implementation, the hardness deviation data for the third and fourth test points, acquired by the hardness sensor, is used. For example, if the hardness deviation at the third test point is -0.08 meters (indicating that the initial burial depth is 0.08 meters shallower than the ideal depth), and the hardness deviation at the fourth test point is -0.04 meters, the average of the deviations at the third and fourth test points is calculated (((-0.08) + (-0.04)) / 2 = -0.06 meters). The intermediate adjusted burial depth is then further adjusted to 1.07 meters plus 0.02 meters, or 1.09 meters, bringing the deviations at the third and fourth test points closer to -0.06 meters and also closer to -0.06 meters. During the adjustment process, a proportional control algorithm updates the hardness sensor data in real time, ensuring that the difference between the two-point deviation is less than a preset equilibrium threshold (e.g., 0.01 meter). The adjusted burial depth is verified to be within the feasible range of the construction equipment (e.g., 0.5 to 1.5 meters). If so, the optimized burial depth (e.g., 1.09 meters) is confirmed and stored as a construction control parameter. If not, the depth is fine-tuned and recalculated until the deviation is balanced and meets the equipment constraints.

[0050] In some embodiments, as Figure 2 As shown, the step of adaptively controlling the submarine cable construction equipment based on the optimized burying depth to obtain stability information of the submarine cable burying construction includes: Step S61: Dividing the submarine cable construction path into a preset number of equal segments based on the optimized burial depth; Specifically, to achieve adaptive control of submarine cable construction equipment and assess construction stability, the submarine cable construction path is divided into a preset number of equal segments based on the optimized burial depth. During implementation, optimized burial depth data is loaded (for example, a depth value per meter along the construction path, ranging from 0.5 to 1.5 meters). The number of equal segments (for example, 100 segments, each 10 meters long) is determined based on the total length of the construction path (for example, 1000 meters) and the control accuracy of the construction equipment. The construction path is evenly divided based on linear distance, with each segment corresponding to an optimized burial depth value (for example, 1.09 meters for segment 1 and 1.08 meters for segment 2). To ensure segment accuracy, path planning software is used to record the start and end coordinates of each segment (for example, latitude and longitude, or relative distance). The optimized burial depth is then associated with the corresponding segment to form a depth distribution table. The resulting equal segments are stored in an array (e.g., [Segment 1: 1.09 meters, Segment 2: 1.08 meters, ...]), providing a clear basis for path partitioning when subsequently obtaining construction resistance information. This equal segmentation method effectively decomposes complex paths and facilitates segment-by-segment analysis of stability during construction.

[0051] Furthermore, step S62: obtaining the construction resistance information of each equal segment, and determining the stability information of the submarine cable buried construction according to the difference of the construction resistance information between the equal segments.

[0052] Real-time monitoring is used to obtain construction resistance information for each equal segment. Based on the differences in construction resistance information between equal segments, the stability of the cable's burial into the earth is determined. During implementation, pressure and torque sensors installed on cable construction equipment (such as a plow-type burial machine) measure the construction resistance of each equal segment in real time. Specifically, the thrust value (in kN) at the corresponding optimized burial depth is measured. For example, in segment 1 (optimized burial depth of 1.09 meters), the thrust value is 20 kN; in segment 2 (optimized burial depth of 1.08 meters), the thrust value is 22 kN. The thrust values ​​for each equal segment are stored in a resistance information array (e.g., [segment 1: 20 kN, segment 2: 22 kN, ...]). Subsequently, the differences in thrust values ​​between adjacent equal segments are calculated. For example, the difference between segment 1 and segment 2 is |20 - 22| = 2 kN. The thrust differences across all equally divided sections are statistically analyzed, with the average and maximum differences calculated (e.g., average difference 1.5 kN, maximum difference 3 kN). Based on pre-set stability criteria (e.g., average difference <2 kN and maximum difference <5 kN), if the differences are within the standard range, the cable installation is considered stable, and a stability message (e.g., "Stability index 0.9, construction stable") is generated. If the differences exceed the standard (e.g., maximum difference 6 kN), the installation is considered unstable, and a warning message (e.g., "Stability index 0.4, abnormal resistance in section 10, inspection recommended") is generated and displayed to the surface control center. Stability information is stored in both numerical and textual form for operators to reference, allowing them to optimize installation parameters or suspend operations.

[0053] This embodiment divides the construction path into equal segments based on the optimized burial depth, obtains the construction resistance information of each equal segment, and analyzes the resistance differences between adjacent equal segments. This achieves a precise assessment of the stability of submarine cable burial construction, overcomes the challenges of complex construction conditions in highly turbid waters, and provides effective support for the adaptive control and construction reliability of submarine cable construction equipment.

[0054] In some embodiments, the construction resistance information includes a thrust value of a submarine cable construction device, and the steps of obtaining the construction resistance information of each equal segment and determining the stability information of the submarine cable buried construction based on the difference in the construction resistance information between the equal segments include: Counting the thrust values ​​of each equal segment, and determining whether the difference between the thrust values ​​of each equal segment is within a preset difference range; Specifically, to determine the stability of submarine cable burial construction, the thrust values ​​of each equally divided segment are first calculated, and the difference in thrust values ​​between adjacent equally divided segments is determined to be within a preset difference range. In implementation, based on the equally divided segments defined in claim 6 (e.g., 100 segments, each 10 meters), a pressure sensor installed on submarine cable construction equipment (e.g., a plow-type burial machine) is used to collect the thrust values ​​of each equally divided segment in real time, in kN. For example, the thrust value of segment 1 is 21 kN, segment 2 is 23 kN, and segment 3 is 20 kN. These thrust values ​​are stored in an array (e.g., [segment 1: 21 kN, segment 2: 23 kN, segment 3: 20 kN, ...]). Subsequently, the difference in thrust values ​​between adjacent equally divided segments is calculated. For example, the difference between segment 1 and segment 2 is |21 - 23| = 2 kN, and the difference between segment 2 and segment 3 is |23 - 20| = 3 kN. The thrust differences between all adjacent equally divided segments are statistically analyzed to generate a sequence of differences (e.g., [2 kN, 3 kN, …]). The preset range of differences is determined based on equipment performance and construction requirements. For example, the thrust difference must be less than 5 kN to ensure smooth construction. Each difference in the sequence is checked individually to determine whether it is within the preset range (e.g., ≤5 kN). If all differences meet the criteria, the next step, stability assessment, is performed. If any difference exceeds the range (e.g., a difference of 6 kN in a segment), the exception is recorded and subsequent processing continues.

[0055] Furthermore, if the difference is within a preset range, the stability information indicates that the submarine cable is in stable condition when buried in the ground. As can be understood, when the thrust difference between all equally divided segments is within a preset range, the submarine cable installation is considered stable, and corresponding stability information is generated. During implementation, if all values ​​in the difference sequence are less than or equal to the preset range (e.g., ≤5 kN), statistical indicators of the differences, such as the average difference (e.g., 2.5 kN) and the maximum difference (e.g., 4 kN), are calculated to further confirm the stability of the installation. Based on these indicators, stability information is generated and output as "Submarine Cable Installation Stable" along with a stability index (e.g., 0.92, calculated based on the proximity of the difference to the preset range, ranging from 0 to 1, with a value closer to 1 indicating high stability). Stability information is displayed on the surface control center's display interface for operator reference and is also stored in the system to record the construction status. For example, if all thrust differences for a 100-segment construction path are within 5 kN, the output is "Stability Index 0.92, Construction Stable," indicating uniform force distribution and normal equipment operation, with no need to adjust construction parameters.

[0056] Furthermore, if the difference is not within the preset range, the stability information indicates that the submarine cable buried construction is unstable.

[0057] Specifically, if the thrust difference between any equally divided segments exceeds a preset range, the cable's buried construction is deemed unstable, and corresponding stability information is generated. During implementation, if at least one value in the difference sequence exceeds the preset range (for example, a difference of 6 kN in a segment exceeds 5 kN), that segment is marked as abnormal and its location is recorded (for example, "Segment 10, thrust difference 6 kN"). Statistical indicators for all differences, such as the average difference (for example, 3 kN) and the maximum difference (for example, 6 kN), are calculated, and stability information is generated. This information is output as "Unstable submarine cable buried construction" with an accompanying stability index (for example, 0.45, indicating low stability). Furthermore, a prompt message is issued through the surface control center, including the abnormal segment number, thrust value, and difference (for example, "Thrust value 25 kN in segment 10, difference 6 kN, recommending checking soil conditions or equipment status"). Prompt messages, presented as text and audible alarms, remind operators to pause construction, check for changes in soil hardness or equipment operating status, and adjust construction parameters (such as reducing propulsion speed) to restore stability. Stability information is stored in log files for subsequent analysis and optimization of construction plans.

[0058] The present invention also provides a submarine cable construction embedding depth adjustment system 100 based on adaptive control, such as Figure 3 As shown, the system 100 includes: The image processing module 101 is used to obtain an image of the seabed environment in highly turbid waters and generate a corresponding feature image.

[0059] Specifically, image processing module 101 is the core component for seabed environmental perception, responsible for capturing images of the seabed environment in highly turbid waters and generating feature images. During implementation, image processing module 101 is integrated into a remotely operated vehicle (ROV) equipped with a high-resolution underwater camera (e.g., a 4K underwater camera). The ROV cruises along the planned cable construction route at a constant speed (e.g., 0.5 m / s) to capture images of the seabed environment. To address the low visibility in highly turbid waters, the camera is equipped with a high-brightness LED light source for enhanced illumination. Images are stored in a high-resolution format (e.g., 1920 × 1080 pixels). Image processing software runs within image processing module 101, employing a median filter algorithm to remove noise caused by suspended particles and preserve soil texture details. Subsequently, image processing module 101 enhances image contrast through adaptive histogram equalization, highlighting soil boundaries and topographic features. Finally, image processing module 101 processes the image using the Canny edge detection algorithm, extracting the edge contours of the seabed soil and generating a feature image. This feature image is stored as a two-dimensional matrix (e.g., 1024 × 1024 pixels), where white pixels represent soil boundaries and black pixels represent uniform areas. This feature image clearly reflects the distribution characteristics of the seabed soil and provides reliable data for subsequent depth positioning.

[0060] The depth positioning module 102 is configured to determine an initial embedding depth of the seabed soil in the characteristic image based on a preset soil analysis method.

[0061] Furthermore, the depth positioning module 102 processes the feature image using a preset soil analysis method to determine the initial embedding depth of the submarine soil. During implementation, the depth positioning module 102 runs on a server at the surface control center and loads a soil analysis model based on a support vector machine. This model, trained with submarine soil sample data, establishes a mapping relationship between soil texture features and embedding depth. The depth positioning module 102 receives the feature image output by the image processing module 101 and analyzes its texture density, grayscale variations, and edge distribution to identify the soil type (e.g., sandy soil, clay, or silt) and its hardness characteristics (e.g., hardness range of 20-200 kPa). Based on the identification results, the depth positioning module 102 calculates the initial embedding depth using a depth optimization algorithm, taking into account submarine cable protection requirements and construction equipment power constraints. For example, for sandy soil with a high hardness (150 kPa), the depth positioning module 102 sets the initial embedding depth to 0.8 meters; for soft silt (30 kPa), it sets it to 1.2 meters. The calculated results are stored as a depth distribution curve (e.g., a depth value per meter) and verified to see if they meet construction feasibility requirements (e.g., a depth range of 0.5-1.5 meters). If not, the depth positioning module 102 outputs an exception message and suspends processing until parameters are adjusted. This initial burial depth provides a benchmark for subsequent depth corrections.

[0062] The depth correction module 103 is used to obtain real-time deviation information between the initial burial depth and the hardness distribution of the seabed soil, and to adaptively correct the initial burial depth according to the deviation information to obtain an optimized burial depth.

[0063] Furthermore, the depth correction module 103 monitors the soil hardness distribution in real time and adjusts the initial burial depth to adapt to the dynamically changing construction environment. During implementation, the depth correction module 103 is integrated into the submarine cable construction equipment and equipped with multiple hardness sensors. These sensors collect soil hardness data at regular intervals (e.g., 0.3 meters) along the construction path, generating a real-time hardness distribution (e.g., a sequence of hardness values ​​[60 kPa, 80 kPa, ...]). The depth correction module 103 compares the initial burial depth (e.g., 1.1 meters) with the ideal depth corresponding to the hardness distribution and calculates the deviation. For example, if a hardness of 80 kPa at a certain point corresponds to an ideal depth of 1.0 meters, the deviation is 1.1 - 1.0 = 0.1 meters. The depth correction module 103 uses an adaptive control algorithm to adjust the depth based on the deviation, for example, reducing it by 0.05 meters for higher hardness and increasing it by 0.05 meters for lower hardness. This adjustment process is iterative until the deviation falls below a preset threshold (e.g., 0.03 meters). Finally, the depth correction module outputs the optimized burial depth (e.g., 1.08 meters) via 103 and stores it as a depth control parameter for use by the construction control module 104. This process ensures that the depth adjustment can adapt to changes in soil hardness in real time.

[0064] The construction control module 104 is used to adaptively control the submarine cable construction equipment based on the optimized burial depth to obtain stability information of the submarine cable burial construction.

[0065] Finally, the construction control module 104 adaptively controls the submarine cable construction equipment based on the optimized embedment depth and generates construction stability information. During implementation, the construction control module 104, running on the construction equipment's programmable logic controller (PLC), receives the optimized embedment depth (e.g., 1.08 meters) output by the depth correction module 103 and converts it into equipment control instructions to adjust the plowing machine's plow depth and hydraulic thrust. For example, for a depth of 1.08 meters, the construction control module 104 sets the thrust to 20 kN and the propulsion speed to 0.3 m / s. The construction control module 104 monitors the construction resistance (e.g., a thrust value of 22 kN) and the actual depth deviation (e.g., ±0.02 m) in real time using pressure sensors and displacement sensors. The operation control module 104 calculates the resistance fluctuation amplitude (for example, ±10%). If the fluctuation is within a preset range (e.g., ±15%), it generates a stability message "Construction Stable" with a stability index (e.g., 0.9, range 0-1). If the fluctuation exceeds the limit (e.g., ±20%), it generates an "Construction Unstable" message with a prompt (e.g., "Abnormal resistance in section 5, inspection recommended") and displays it to the surface control center. This stability information is stored as a log for subsequent optimization of operation parameters.

[0066] This embodiment uses the image processing module 101 to generate feature images, the depth positioning module 102 to determine the initial burial depth, the depth correction module 103 to achieve adaptive depth adjustment, and the construction control module 104 to ensure construction stability. It overcomes the challenges of complex environment and hardness changes in highly turbid waters and provides efficient and reliable system support for precise control of the burial depth of submarine cable construction.

[0067] In some embodiments, the depth correction module 103 further includes: a deviation calculation unit, configured to set a first detection line and a second detection line based on the initial burial depth, obtain a first detection point and a second detection point between the first detection line and the seabed soil hardness distribution, as well as a third detection point and a fourth detection point between the second detection line and the seabed soil hardness distribution, and calculate a hardness deviation between the initial burial depth and each detection point.

[0068] As can be understood, the deviation calculation unit is a core component of the depth correction module 103, responsible for monitoring the hardness distribution of the seabed soil and calculating the deviation between the initial burial depth and the actual hardness requirement. During implementation, the unit receives initial burial depth data (e.g., 1.1 meters, generated by the depth positioning module 102). The unit first sets a first detection line and a second detection line based on the initial burial depth. These lines are arranged vertically along the left and right sides of the construction path, with a fixed spacing (e.g., 1 meter) to cover the area of ​​varying soil hardness. Using multi-point hardness sensors installed on the construction equipment, the deviation calculation unit measures the hardness values ​​of two key points along the first detection line to determine the first and second detection points (e.g., 60 kPa for the first detection point and 80 kPa for the second detection point). It then measures two additional key points along the second detection line to determine the third and fourth detection points (e.g., 70 kPa for the third detection point and 65 kPa for the fourth detection point). Based on a pre-set hardness-depth mapping model, the unit converts the hardness values ​​at each detection point to the desired burial depth (e.g., 60 kPa corresponds to 1.0 meter and 80 kPa corresponds to 0.9 meter). The unit then calculates the difference between the initial burial depth and the ideal depth at each test point to generate a hardness deviation. For example, the deviation at the first test point is 1.1 - 1.0 = 0.1 meter, the deviation at the second test point is 1.1 - 0.9 = 0.2 meter, the deviation at the third test point is 1.1 - 0.95 = 0.15 meter, and the deviation at the fourth test point is 1.1 - 0.98 = 0.12 meter. These deviation values ​​are stored in an array (e.g., [0.1 meter, 0.2 meter, 0.15 meter, 0.12 meter]) for use by the depth optimization unit.

[0069] The depth optimization unit is used to adaptively correct the initial burial depth according to the hardness deviation to obtain an optimized burial depth.

[0070] Furthermore, the depth optimization unit adaptively adjusts the initial burial depth to obtain the optimized burial depth based on the hardness deviation data provided by the deviation calculation unit. In implementation, this unit runs on the embedded controller of the construction equipment and receives the hardness deviation array (e.g., [0.1m, 0.2m, 0.15m, 0.12m]) output by the deviation calculation unit. The unit uses an adaptive control algorithm (such as fuzzy control) to adjust the initial burial depth based on the magnitude and distribution of the deviations. This adjustment strategy is based on a weighted average of the deviations, with weights determined by the location of the inspection points. For example, inspection points near the center of the construction path receive a higher weight (e.g., 0.3) and those farther from the center receive a lower weight (e.g., 0.2). The unit calculates the weighted deviations (e.g., 0.3 × 0.1 + 0.2 × 0.2 + 0.3 × 0.15 + 0.2 × 0.12 = 0.139m) and adjusts the initial burial depth to 1.1 - 0.139 = 0.961m. After adjustment, the unit recollects data from the test points using the hardness sensor to verify whether the deviation at the new depth is less than a preset threshold (e.g., 0.02 meters). If the deviation is still significant, the unit iteratively adjusts the depth (e.g., fine-tuning by ±0.01 meters) until the hardness deviation at all test points meets the threshold. Finally, the unit outputs the optimized burial depth (e.g., 0.96 meters), stores it as a construction control parameter, and transmits it to the construction control module 104. This process ensures that depth corrections can adapt to changes in soil hardness in real time, improving construction accuracy.

[0071] In some embodiments, the construction control module 104 further includes: The path segmentation unit is used to divide the submarine cable construction path into a preset number of equal segments based on the optimized burial depth.

[0072] Specifically, the path segmentation unit is a core component of the construction control module 104. It is responsible for dividing the submarine cable construction path into a preset number of equal segments based on the optimized embedment depth to support subsequent stability analysis. During implementation, this unit operates within the control system of the construction equipment and receives optimized embedment depth data (e.g., a depth value per meter along the construction path, ranging from 0.5 to 1.5 meters, generated based on the depth correction module 103 in claim 8). The unit sets the number of equal segments (e.g., 120 segments, each 10 meters long) based on the total length of the construction path (e.g., 1200 meters) and the control accuracy of the construction equipment. During segmentation, the unit uses path planning software to calculate the start and end coordinates of each equal segment (e.g., expressed as relative distances, segment 1 is 0-10 meters, segment 2 is 10-20 meters). Each equal segment is associated with a corresponding optimized embedment depth value (e.g., segment 1 is 1.08 meters, segment 2 is 1.07 meters), forming a depth distribution table (e.g., [segment 1: 1.08 meters, segment 2: 1.07 meters, ...]). To ensure segmentation accuracy, the unit verifies that the total path length is the product of the number of segments and checks that the depth of each equally divided segment is within the feasible range for the equipment (e.g., 0.5-1.5 meters). The segmentation results are stored in an array for use by the stability analysis unit. This equally divided segmentation method breaks down complex construction paths into manageable units, facilitating segment-by-segment monitoring and control.

[0073] The stability analysis unit is used to obtain the construction resistance information of each equal segment and determine the stability information of the submarine cable buried construction based on the difference in construction resistance information between the equal segments.

[0074] Specifically, the stability analysis unit monitors the construction resistance of each segment in real time, analyzes the resistance differences between adjacent segments, and determines the stability of the cable's buried construction. During implementation, the unit is integrated into the programmable logic controller (PLC) of the construction equipment and equipped with pressure and torque sensors to collect real-time construction resistance information for each segment. Specifically, it measures the thrust of the cable construction equipment (e.g., a plow-type burying machine) at the corresponding optimized buried depth, expressed in kN. For example, the thrust for segment 1 (optimized buried depth of 1.08 meters) is 22 kN, while the thrust for segment 2 (optimized buried depth of 1.07 meters) is 24 kN. The unit stores these thrust values ​​in an array (e.g., [segment 1: 22 kN, segment 2: 24 kN, …]). The unit then calculates the thrust differences between adjacent segments. For example, the difference between segments 1 and 2 is |22 - 24| = 2 kN, and the difference between segments 2 and 3 is |24 - 21| = 3 kN. The unit counts all differences, calculating the average (e.g., 2.2 kN) and the maximum (e.g., 4 kN) difference, and compares them to a preset range of differences (e.g., ≤5 kN). If all differences are within the range, the unit generates stability information as "Submarine cable buried construction stable" with an accompanying stability index (e.g., 0.90, based on the closeness of the difference to the range, ranging from 0 to 1). If a difference exceeds the range (e.g., a 6 kN difference in a section), the unit generates a "Submarine cable buried construction unstable" message with a warning message (e.g., "Thrust difference 6 kN in section 10; soil conditions recommended"). This information is displayed to the surface control center. Stability information is stored in a log for subsequent analysis and optimization of construction parameters.

[0075] The above description is merely an exemplary embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural transformation made by utilizing the contents of the present invention's description and drawings under the technical concept of the present invention, or directly / indirectly applied in other related technical fields, is included in the patent protection scope of the present invention.

Claims

1. A method for adjusting the depth of submarine cable construction based on adaptive control, characterized in that: The method comprises the following steps: Acquire a seabed environment image of highly turbid waters and generate a feature image corresponding to the seabed environment image; Determining the initial depth of the seabed soil in the characteristic image based on a preset soil analysis method; Acquiring real-time deviation information between the initial burial depth and the hardness distribution of seabed soil, and adaptively correcting the initial burial depth based on the deviation information to obtain an optimized burial depth; Based on the optimized burial depth, the submarine cable construction equipment is adaptively controlled to obtain stability information of the submarine cable burial construction.

2. The method for adjusting the depth of submarine cable construction based on adaptive control according to claim 1, characterized in that: The step of acquiring a seabed environment image of a highly turbid water area and generating a feature image corresponding to the seabed environment image comprises: Use underwater high-definition imaging equipment to collect images of the seabed environment in highly turbid waters; performing denoising and feature enhancement processing on the seabed environment image; Edge detection is performed on the seabed environment image after feature enhancement processing to obtain the feature image.

3. The method for adjusting the depth of submarine cable construction based on adaptive control according to claim 1, characterized in that: The step of determining the initial embedding depth of the seabed soil in the characteristic image based on the preset soil analysis method includes: Extracting soil characteristics from the feature image based on a preset soil analysis method to identify the hardness distribution and topographic undulations of the seabed soil; According to the hardness distribution and the terrain undulation, an initial burial depth is generated by using a depth optimization algorithm; When the initial burial depth meets the preset construction feasibility condition, it is used as the initial burial depth; otherwise, a prompt message indicating that the depth planning has failed is output.

4. The method for adjusting the depth of submarine cable construction based on adaptive control according to claim 1, characterized in that: The step of obtaining real-time deviation information between the initial burial depth and the seabed soil hardness distribution, and adaptively correcting the initial burial depth according to the deviation information to obtain the optimized burial depth includes: Setting a first detection line and a second detection line along the construction path based on the initial burial depth, wherein the first detection line intersects the soil hardness distribution at a first detection point and a second detection point, and the second detection line intersects the soil hardness distribution at a third detection point and a fourth detection point; Calculating the hardness deviations between the initial burial depth and the first detection point, the second detection point, the third detection point, and the fourth detection point as real-time deviation information; According to the real-time deviation information, the initial burial depth is adaptively corrected using the following formula: in, To optimize the depth of penetration, is the initial burial depth, is the weight coefficient of the i-th detection point, is the hardness deviation of the i-th detection point; Iterative adjustment is performed until the hardness deviation meets the preset threshold and the optimized soil penetration depth is obtained.

5. The method for adjusting the depth of submarine cable construction embedded in the earth based on adaptive control according to claim 4, characterized in that: The step of adaptively correcting the initial burial depth according to the real-time deviation information further includes: Adjusting the initial burial depth along the direction of the first detection line until the initial burial depth is balanced with the hardness deviation between the first detection point and the second detection point; The adjusted burial depth is adjusted along the direction of the second detection line until the burial depth is balanced with the hardness deviations of the third detection point and the fourth detection point, thereby determining the optimized burial depth.

6. The method for adjusting the embedding depth of a submarine cable during construction based on adaptive control according to any one of claims 1 to 5, wherein: The step of adaptively controlling the submarine cable construction equipment based on the optimized burying depth to obtain stability information of the submarine cable burying construction comprises: Based on the optimized embedment depth, the submarine cable construction path is divided into a preset number of equal segments; The construction resistance information of each equal segment is obtained, and the stability information of the submarine cable buried construction is determined based on the difference in the construction resistance information between the equal segments.

7. The method for adjusting the depth of submarine cable construction in the ground based on adaptive control according to claim 6, characterized in that: The construction resistance information includes a thrust value of the submarine cable construction equipment. The steps of obtaining the construction resistance information of each equal segment and determining the stability information of the submarine cable buried construction based on the difference in the construction resistance information between the equal segments include: Counting the thrust values ​​of each equal segment, and determining whether the difference between the thrust values ​​of each equal segment is within a preset difference range; If the difference is within the preset range, the stability information indicates that the submarine cable is stable when buried in the ground. If it is not within the preset difference range, the stability information indicates that the submarine cable buried construction is unstable.

8. A submarine cable construction embedment depth adjustment system based on adaptive control, characterized in that: The system comprises: An image processing module is used to obtain seabed environment images in highly turbid waters and generate corresponding feature images; A depth positioning module, configured to determine an initial depth of the seabed soil in the characteristic image based on a preset soil analysis method; a depth correction module, configured to obtain real-time deviation information between the initial burial depth and the hardness distribution of the seabed soil, and adaptively correct the initial burial depth according to the deviation information to obtain an optimized burial depth; The construction control module is used to adaptively control the submarine cable construction equipment based on the optimized burial depth to obtain stability information of the submarine cable burial construction.

9. The system for adjusting the depth of submarine cable construction embedded in the earth based on adaptive control according to claim 8, characterized in that: The depth correction module includes: a deviation calculation unit, configured to set a first detection line and a second detection line based on the initial burial depth, obtain a first detection point and a second detection point between the first detection line and the seabed soil hardness distribution, as well as a third detection point and a fourth detection point between the second detection line and the seabed soil hardness distribution, and calculate a hardness deviation between the initial burial depth and each detection point; The depth optimization unit is used to adaptively correct the initial burial depth according to the hardness deviation to obtain an optimized burial depth.

10. The system for adjusting the depth of submarine cable construction in the ground based on adaptive control according to claim 8, characterized in that: The construction control module includes: A path segmentation unit, configured to divide the submarine cable construction path into a preset number of equal segments based on the optimized burial depth; The stability analysis unit is used to obtain the construction resistance information of each equal segment and determine the stability information of the submarine cable buried construction based on the difference in construction resistance information between the equal segments.

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