A submarine cable construction soil penetration depth adjustment method and system based on adaptive control

Abstract

The application discloses a kind of based on adaptive control's submarine cable construction depth of soil adjustment method and system, the method includes: through underwater high-definition imaging equipment acquisition seabed environment image, generates characteristic image;Determine initial depth of soil based on preset soil analysis method;Soil hardness distribution is obtained using hardness sensor, along first, second detection line is equipped with four detection points, and initial depth of soil is corrected adaptively by calculating hardness deviation, and optimal depth of soil is obtained;With optimal depth as reference, divide path equal segment, monitor the difference of thrust value and evaluate construction stability.System includes image processing, depth positioning, depth correction, construction control module, realizes image processing, depth optimization, adaptive control.The application overcomes the challenge of soil hardness variation in high turbidity water area through real-time deviation correction and resistance analysis, improves the accuracy and stability of submarine cable construction, reduces construction risk and maintenance cost, and is suitable for complex seabed environment.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of ocean engineering, in particular to a submarine cable construction soil penetration depth adjustment method and system based on adaptive control. BACKGROUND

[0002] Submarine cable (referred to as submarine cable) laying is an important technology in the field of ocean engineering, widely used in power transmission, communication network and energy development scenarios. In high turbidity water area, due to high turbidity of water body, low visibility and complex seabed soil environment, traditional submarine cable construction method faces many challenges in soil penetration depth control. The existing technology usually relies on preset construction parameters or manual experience to adjust the soil penetration depth, which is difficult to adapt to the real-time changes of seabed soil hardness, terrain undulation and construction resistance. This static control method is easy to cause uneven soil penetration depth, overload of construction equipment or unstable submarine cable burial, thereby increasing the construction risk and maintenance cost.

[0003] In recent years, with the development of underwater imaging technology and adaptive control technology, submarine cable construction methods based on real-time environmental perception and dynamic adjustment have gradually attracted attention. However, the existing methods still have problems such as insufficient image processing accuracy, inaccurate soil hardness detection and poor real-time depth adjustment when dealing with complex environments in high turbidity water area. Especially for the dynamic changes of seabed soil hardness distribution, there is a lack of efficient adaptive control strategy, which makes it difficult to realize precise optimization and stability guarantee of soil penetration depth during construction.

[0004] Therefore, there is an urgent need for a submarine cable construction soil penetration depth adjustment method and system based on adaptive control, which can combine seabed environment image processing, real-time soil hardness monitoring and dynamic depth optimization technology in high turbidity water area, realize precise control of submarine cable soil penetration depth and improve construction stability, to meet the needs of complex seabed environment. SUMMARY

[0005] The purpose of the present application is to provide a submarine cable construction soil penetration depth adjustment method and system based on adaptive control, which aims to solve the problems of uneven soil penetration depth, overload of construction equipment and unstable submarine cable burial caused by relying on preset parameters or manual experience in traditional submarine cable construction method in high turbidity water area, overcome the challenges of low visibility and dynamic changes of soil hardness in high turbidity water area, realize precise adaptive control of soil penetration 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 risk, reducing maintenance cost and improving the efficiency and reliability of submarine cable laying.

[0006] To achieve the above purpose, specifically, the submarine cable construction soil penetration depth adjustment method based on adaptive control comprises the following steps: acquiring seabed environment image of high turbidity water area, and generating feature image corresponding to the seabed environment image;

[0007] determine an initial soil penetration depth of seabed soil in the feature image based on a preset soil analysis method;

[0008] obtain real-time deviation information of the initial soil penetration depth and seabed soil hardness distribution, and adaptively correct the initial soil penetration depth according to the deviation information to obtain an optimized soil penetration depth;

[0009] adaptively control the submarine cable construction equipment based on the optimized soil penetration depth to obtain stability information of submarine cable soil penetration construction.

[0010] Further, the step of obtaining seabed environment images of the high-turbidity water area and generating feature images corresponding to the seabed environment images comprises:

[0011] using an underwater high-definition imaging device to collect seabed environment images of the high-turbidity water area;

[0012] performing denoising processing and feature enhancement processing on the seabed environment images;

[0013] performing edge detection on the seabed environment images after feature enhancement processing to obtain the feature images.

[0014] Further, the step of determining an initial soil penetration depth of seabed soil in the feature image based on a preset soil analysis method comprises:

[0015] extracting soil characteristics of the feature image based on a preset soil analysis method to identify hardness distribution and terrain undulation of seabed soil;

[0016] generating an initial soil penetration depth using a depth optimization algorithm according to the hardness distribution and terrain undulation;

[0017] when the initial soil penetration depth meets a preset construction feasibility condition, it is taken as the initial soil penetration depth; otherwise, output a prompt information of depth planning failure.

[0018] Further, the step of obtaining real-time deviation information of the initial soil penetration depth and seabed soil hardness distribution, and adaptively correcting the initial soil penetration depth according to the deviation information to obtain an optimized soil penetration depth comprises:

[0019] setting a first detection line and a second detection line along the construction path with the initial soil penetration depth as a reference, the first detection line intersecting the soil hardness distribution at a first detection point and a second detection point, and the second detection line intersecting the soil hardness distribution at a third detection point and a fourth detection point;

[0020] The initial soil penetration depth is respectively calculated with the hardness deviation of the first detection point, the second detection point, the third detection point and the fourth detection point as real-time deviation information;

[0021] According to the real-time deviation information, the initial soil penetration depth is adaptively corrected by the following formula:

[0022]

[0023] Wherein, to optimize the soil penetration depth, is the initial soil penetration depth, is the weight coefficient of the i-th detection point, is the hardness deviation of the i-th detection point;

[0024] Iterative adjustment until the hardness deviation meets the preset threshold to obtain the optimized soil penetration depth.

[0025] Further, the step of adaptively correcting the initial soil penetration depth according to the real-time deviation information further comprises:

[0026] Adjusting the initial soil penetration depth along the direction of the first detection line until the hardness deviation of the initial soil penetration depth and the first detection point and the second detection point is balanced;

[0027] Adjusting the adjusted soil penetration depth along the direction of the second detection line until the hardness deviation of the soil penetration depth and the third detection point and the fourth detection point is balanced to determine the optimized soil penetration depth.

[0028] Further, the step of adaptively controlling the submarine cable construction equipment based on the optimized soil penetration depth to obtain the stability information of the submarine cable soil construction comprises:

[0029] Dividing the submarine cable construction path into a preset number of equal segments based on the optimized soil penetration depth;

[0030] Obtaining the construction resistance information of each equal segment, and determining the stability information of the submarine cable soil construction according to the difference of the construction resistance information between each equal segment.

[0031] Further, the construction resistance information includes the pushing force value of the submarine cable construction equipment, and the step of obtaining the construction resistance information of each equal segment and determining the stability information of the submarine cable soil construction according to the difference of the construction resistance information between each equal segment comprises:

[0032] Statistically analyzing the pushing force value of each equal segment, and judging whether the difference of the pushing force value between each equal segment is within a preset difference range;

[0033] If the difference is within the preset range, the stability information is that the submarine cable is stable in the soil construction.

[0034] If the difference is not within the preset range, the stability information is that the submarine cable is unstable in the soil construction.

[0035] Further, the present application also provides a submarine cable construction soil penetration depth adjustment system based on adaptive control, which comprises:

[0036] An image processing module is configured to acquire seabed environment images of high-turbidity water areas and generate corresponding feature images.

[0037] A depth positioning module is configured to determine an initial soil penetration depth of seabed soil in the feature images based on a preset soil analysis method.

[0038] A depth correction module is configured to acquire real-time deviation information of the initial soil penetration depth and seabed soil hardness distribution, and adaptively correct the initial soil penetration depth according to the deviation information to obtain an optimized soil penetration depth.

[0039] A construction control module is configured to adaptively control submarine cable construction equipment based on the optimized soil penetration depth to obtain stability information of submarine cable soil construction.

[0040] Further, the depth correction module comprises:

[0041] A deviation calculation unit is configured to set a first detection line and a second detection line based on the initial soil penetration depth, acquire first and second detection points of the first detection line and seabed soil hardness distribution and third and fourth detection points of the second detection line and seabed soil hardness distribution, and calculate hardness deviation of the initial soil penetration depth and each detection point.

[0042] A depth optimization unit is configured to adaptively correct the initial soil penetration depth according to the hardness deviation to obtain an optimized soil penetration depth.

[0043] Further, the construction control module comprises:

[0044] A path segmentation unit is configured to divide a submarine cable construction path into a preset number of equal segments based on the optimized soil penetration depth.

[0045] A stability analysis unit is configured to acquire construction resistance information of each equal segment and determine stability information of submarine cable soil construction according to differences in construction resistance information between each equal segment.

[0046] The application provides a submarine cable construction soil penetration depth adjustment method and system based on adaptive control, which acquires seabed environment images of high turbidity water areas and generates feature images, determines the initial soil penetration depth in combination with a preset soil analysis method, and performs adaptive correction based on real-time soil hardness deviation information, effectively solving the problems of uneven soil penetration depth, construction equipment overload and unstable submarine cable burial caused by the dependence on preset parameters or artificial experience in traditional methods; by setting a first detection line and a second detection line, the hardness deviation of the first to fourth detection points is acquired and dynamically adjusted by using a formula, which significantly improves the image processing accuracy, soil hardness detection accuracy and real-time depth adjustment, and overcomes the challenges of low visibility and frequent changes in soil hardness in the complex environment of high turbidity water areas; at the same time, by dividing the construction path into equal segments and analyzing the construction resistance difference, the stability of the submarine cable soil penetration construction is accurately ensured, thereby reducing the construction risk and the maintenance cost in the later period, adapting to the construction requirements of the complex seabed environment, and improving the overall efficiency and reliability of the submarine cable laying. BRIEF DESCRIPTION OF DRAWINGS

[0047] Figure 1 The application provides a submarine cable construction soil penetration depth adjustment method based on adaptive control.

[0048] Figure 2 The application provides a submarine cable construction path equal segmentation and stability analysis method flowchart.

[0049] Figure 3 The application provides a submarine cable construction soil penetration depth adjustment system based on adaptive control.

[0050] The implementation, functional features and advantages of the application will be further described with reference to the embodiments and the accompanying drawings. DETAILED DESCRIPTION

[0051] In order to make the purpose, technical solutions and advantages of the application more clear, the technical solutions in the application will be described clearly and completely in the following with reference to the drawings in the application. Obviously, the described embodiments are some embodiments of the application, not all embodiments. Based on the embodiments in the application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the application.

[0052] The terms "first", "second" are only used for description purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features. Therefore, the features defined with "first", "second" can explicitly or implicitly include one or more features; in the description of the application, unless otherwise specified, the meaning of "multiple" is two or more.

[0053] In order to more clearly illustrate the technical solutions of the present application, the present application will be described in detail below with specific embodiments, but should not be understood as limiting the scope of protection of the present application.

[0054] The technical solutions of the present application will be further described in detail below in combination with the drawings of the specification.

[0055] Specifically, as shown in Figure 1 a seabed environment image of the high-turbidity water area is obtained, and a feature image corresponding to the seabed environment image is generated.

[0056] Step S01: Obtain a seabed environment image of a high-turbidity water area, and generate a feature image corresponding to the seabed environment image.

[0057] It can be understood that in the complex environment of the high-turbidity water area, obtaining the seabed environment image is the basis for realizing accurate depth adjustment. In implementation, a remotely operated vehicle (ROV) equipped with a high-resolution underwater camera device is used to cruise along the predetermined submarine cable construction path at a fixed speed (such as 0.5 meters / second), and the seabed environment image of the high-turbidity water area is collected. These images are usually affected by suspended particles and low visibility, and contain a large amount of noise. In order to generate a clear feature image, first, the collected images are digitally pre-processed, specifically including applying a median filter algorithm to remove particle noise to retain key topographic information in the image. Then, the image contrast is enhanced by adaptive histogram equalization technology to highlight the texture and boundary features of the seabed soil. After the pre-processing is completed, the Sobel edge detection algorithm is used to process the image, and the boundary contour and surface features of the seabed soil are extracted, thereby generating a feature image. The feature image is stored in the form of a two-dimensional matrix, clearly reflecting the distribution characteristics of the seabed soil, and providing reliable data support for subsequent soil analysis and depth determination.

[0058] Step S02: Determine the initial depth of the seabed soil in the feature image based on a preset soil analysis method.

[0059] Further, based on the generated feature image, the initial burial depth of the seabed soil is determined by a preset soil analysis method. In specific implementation, the preset soil analysis method adopts a machine learning model based on a decision tree, which has learned the correlation between soil texture, topographic features and burial depth through training on historical seabed soil samples. The feature image is input into the model to analyze information such as soil surface roughness, topographic slope and texture density reflected in the image, and to identify the type (such as sandy soil, clay or silt) and physical properties of the seabed soil. According to the identification result, a depth optimization algorithm is used to consider the power constraints of the construction equipment and the cable protection requirements, and to calculate the initial burial depth. For example, for sandy soil with high hardness, the initial burial depth may be set to 0.8 meters, and for soft silt, the depth may be set to 1.2 meters. If the calculated initial burial depth exceeds the range that the equipment can withstand (such as a maximum depth of 1.5 meters) or does not meet the safety standards for cable burial (such as a minimum depth of 0.5 meters), an exception will be recorded and the process will be paused until the model parameters are adjusted and recalculated to ensure the reasonableness and feasibility of the initial burial depth.

[0060] Step S03: Obtain real-time deviation information of the initial burial depth and the seabed soil hardness distribution, and adaptively correct the initial burial depth according to the deviation information to obtain an optimized burial depth.

[0061] Further, to adapt to the dynamic changes of soil hardness in high turbidity water areas, the deviation information of the initial burial depth and the seabed soil hardness distribution is obtained by real-time monitoring and adaptive correction. During construction, multi-point hardness sensors installed on the cable construction equipment are used to collect soil hardness data at fixed intervals (such as every 0.3 meters) along the construction path to form a real-time hardness distribution. The initial burial depth is compared with the real-time hardness distribution to calculate the deviation information, which is 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 meters and the soil hardness in a certain area indicates an ideal depth of 1.1 meters, the deviation is 0.1 meters. Based on this deviation information, an adaptive control algorithm (such as proportional-integral control) is used to adjust the burial depth parameters iteratively to reduce the deviation. For example, when the soil hardness is high, the burial depth is reduced to reduce the construction resistance; when the soil is soft, the depth is appropriately increased to ensure stable burial of the cable. The adjustment process continues until the deviation value converges within a preset threshold (such as ±0.03 meters), thereby obtaining the optimized burial depth. This process does not require the introduction of formulas, but only uses deviation quantification and control algorithms to achieve dynamic correction, ensuring the real-time and accuracy of depth adjustment.

[0062] Step S04: Based on the optimized burial depth, the cable construction equipment is adaptively controlled to obtain stability information of the cable burial construction.

[0063] Further, based on the optimized burial depth, the submarine cable construction equipment is adaptively controlled to ensure construction stability, and corresponding stability information is generated. In specific implementation, the optimized burial depth is converted into control instructions of the construction equipment, and the down pressure and the advancing speed of the equipment are adjusted through a programmable logic controller (PLC). For example, for a region with an optimized burial depth of 1.0 meter, the depth of the plow blade of the plow burying machine and the hydraulic thrust are adjusted to ensure accurate burial of the submarine cable. During the construction process, the construction resistance is monitored in real time through a pressure sensor, and the deviation of the actual burial depth from the optimized depth is recorded through a displacement sensor. If the resistance fluctuation is within a preset range (such as ±8%), it is determined that the construction is stable, and stability information is generated, and a stability index (such as 0.9, indicating high stability) is output; if the resistance fluctuation exceeds the range, it is recorded as an unstable state, a low stability index (such as 0.3) is generated, and the operator is prompted to check the equipment or adjust the parameters. Through the above control process, precise adaptive adjustment of the construction equipment is realized, and the stability and reliability of the submarine cable burial construction in high turbidity water are ensured.

[0064] The embodiment realizes precise adjustment of the submarine cable burial depth in high turbidity water by acquiring seabed environment images to generate feature images, determining an initial burial depth based on soil analysis, obtaining an optimized burial depth through real-time deviation correction, and adaptively controlling the equipment, and overcomes the limitations of traditional methods, providing efficient and reliable technical support for submarine cable construction.

[0065] In some embodiments, the step of acquiring seabed environment images of the high turbidity water and generating feature images corresponding to the seabed environment images comprises: using an underwater high-definition imaging device to collect seabed environment images of the high turbidity water; performing denoising processing and feature enhancement processing on the seabed environment images; performing edge detection on the seabed environment images after feature enhancement processing to obtain the feature images.

[0066] Specifically, in the complex environment of high turbidity water, acquiring high-quality seabed environment images is a prerequisite for subsequent feature extraction and depth adjustment. In implementation, a remotely operated vehicle (ROV) equipped with a high-resolution underwater high-definition imaging device (such as a 4K resolution underwater camera) is used to cruise at a constant speed (such as 0.4 meters per second) along the predetermined submarine cable construction path in the high turbidity water, and seabed environment images are collected. To deal with the low visibility problem caused by suspended particles in high turbidity water, the imaging device is equipped with high-brightness LED light sources to enhance the lighting effect, ensuring that the images can capture the texture and topographic details of the seabed soil. During the collection process, image data is recorded at a fixed frequency (such as 5 frames per second), and the image data is sent to the surface control center through a real-time transmission module. The collected images are stored in a high-resolution format (such as JPEG or RAW), containing surface features, topographic undulations, and possible obstacle information of the seabed soil, providing reliable raw data for subsequent processing.

[0067] Further, to improve the image quality for feature extraction, the collected seabed environment image is subjected to denoising processing and feature enhancement processing. In specific implementation, first, a bilateral filtering algorithm is used for denoising processing, which can effectively remove random noise caused by suspended particles while preserving the edge and texture details of the seabed soil. During the denoising process, the filter window size (such as 5x5 pixels) and the spatial standard deviation (such as 2.0) are set to balance the effects of noise suppression and detail preservation. After denoising is completed, adaptive histogram equalization technology is applied for feature enhancement processing, which enhances the contrast of soil texture and terrain features by adjusting the gray scale distribution of the image. For example, for areas with low gray scale values, the visibility is improved by stretching the gray scale range, making the surface roughness and boundary features of the soil more prominent. The processed image is stored in grayscale format to ensure that the subsequent edge detection step can accurately identify soil features.

[0068] Understandably, to generate a feature image that can reflect the distribution of seabed soil, the seabed environment image subjected to denoising and feature enhancement processing is subjected to edge detection. In specific implementation, the Canny edge detection algorithm is used, which first smoothes the image further through Gaussian filtering to reduce residual noise, then calculates the gradient intensity and direction of the image to identify soil boundaries. Double thresholds (for example, low threshold 50, high threshold 150) are set to filter out significant edge features, connect discontinuous edges and eliminate weak edges, thereby generating clear edge contours. The edge detection result is output in the form of a binary image, where white pixels represent soil boundaries or terrain change areas, and black pixels represent uniform areas. This binary image is the feature image, which can clearly show the contours, texture distribution and terrain undulations of the seabed soil, providing accurate data support for subsequent soil analysis and determination of the depth of penetration. The feature image is stored in matrix form (such as 1024x1024 pixels) for further processing and analysis.

[0069] In some embodiments, the step of determining the initial depth of penetration of the seabed soil in the feature image based on the preset soil analysis method includes: extracting soil properties from the feature image based on the preset soil analysis method, identifying the hardness distribution and terrain undulations of the seabed soil; generating an initial depth of penetration using a depth optimization algorithm based on the hardness distribution and terrain undulations; when the initial depth of penetration meets the preset construction feasibility conditions, it is taken as the initial depth of penetration; otherwise, output a prompt information of depth planning failure.

[0070] Specifically, to determine the initial burial depth of seabed soil, first, the soil characteristics of the feature image are extracted using a preset soil analysis method to identify the hardness distribution and topography of the seabed soil. In the implementation process, a preset soil analysis model based on the random forest algorithm is loaded, which establishes a mapping relationship between the pixel features in the feature image and the soil physical properties by learning from a large amount of training data of seabed soil samples. The feature image is input into the model to extract the soil texture features (such as texture density and directionality), gray level variation, and edge distribution information in the image. By analyzing these features, the hardness distribution of the seabed soil is identified, for example, the soil is divided into soft silt (hardness value <50 kPa), medium-hard clay (hardness value 50-150 kPa), and hard sandy soil (hardness value >150 kPa). At the same time, the topography is calculated by edge feature to determine the slope change area (such as the area with a slope >5°) and the flat area. These hardness distribution and topography information are stored in a two-dimensional grid form (such as a 100x100 grid), and each grid cell records the corresponding hardness and slope value, providing accurate soil property data for subsequent depth optimization.

[0071] Further, based on the identified hardness distribution and topography, a depth optimization algorithm is used to generate the initial burial depth. In specific implementation, a weighted objective function optimization algorithm is used to consider the safety requirements of submarine cable burial, power limitations of construction equipment, and the influence of soil hardness and topography. The objective function aims to minimize the construction resistance and ensure the protection of the submarine cable, for example, the burial depth of hard soil is shallower (such as 0.7 meters) to reduce the load of the equipment, and the burial depth of soft soil is deeper (such as 1.3 meters) to enhance the stability of the submarine cable. For areas with large topography, the depth is adjusted appropriately to avoid uneven stress on the equipment. For example, in areas with a slope >5°, the depth may be reduced by 0.1 meters to adapt to the topography changes. Through iterative calculation, the optimal solution of the objective function is solved to generate the initial burial depth, which is stored as a depth distribution curve along the construction path (such as recording a depth value every meter). This algorithm ensures that the generated initial burial depth can balance the construction efficiency and the protection requirements of the submarine cable, while adapting to different soil types and topography conditions.

[0072] Further, to ensure the feasibility of the initial burial depth, the generated initial burial depth is verified to determine whether it meets preset construction feasibility conditions. In a specific implementation, the preset construction feasibility conditions include that the initial burial depth is within the allowable range of the construction equipment (e.g., 0.5 meters to 1.5 meters), the depth variation rate does not exceed the equipment adjustment capability (e.g., <0.2 meters per meter of depth variation), and the minimum protection depth of the submarine cable 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 the above conditions. If the depth of all points meets the conditions, the depth distribution curve is confirmed as the initial burial depth and stored as a control parameter for subsequent construction. If it is found that the depth of any point exceeds the feasibility conditions (e.g., the depth of a certain point is 1.6 meters, exceeding the maximum depth of the equipment), it is determined that the depth planning fails, and a prompt message is output through the display interface of the water surface control center, including the location of the failed point, the depth value, and the specific overrun parameter (e.g., "Location X = 100 meters, depth 1.6 meters, exceeding the maximum depth limit"). At the same time, subsequent operations are suspended, and the operator waits for adjustment of the soil analysis parameters or re-planning of the path until a initial burial depth that meets the conditions is generated.

[0073] In some embodiments, the step of obtaining the real-time deviation information of the initial burial depth and the seabed soil hardness distribution, and adaptively correcting the initial burial depth according to the deviation information to obtain an optimized burial depth includes:

[0074] A first detection line and a second detection line along the construction path are set based on the initial burial depth, 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.

[0075] It is understood that, in order to obtain the real-time deviation information of the initial burial depth and the seabed soil hardness distribution, two detection lines are set along the construction path to monitor the spatial distribution of soil hardness based on the initial burial depth. In the implementation process, based on the initial burial depth curve (for example, one depth value per meter along the path), the first detection line and the second detection line are generated in the transverse plane of the construction path. The first detection line is set in the vertical direction on the left side of the path, and the second detection line is set in the vertical direction on the right side of the path, and the two detection lines are apart by a fixed interval (such as 1 meter) to cover the soil hardness changes of the construction area. The hardness sensor installed on the submarine cable construction equipment is used to measure the soil hardness along the first detection line and the second detection line respectively, and the intersection with the soil hardness distribution is determined. Specifically, the intersection of the first detection line with the soil hardness distribution is the first detection point and the second detection point, which respectively represent two key positions (such as hardness mutation points or boundary points) of the left side soil hardness change; the intersection of the second detection line with the soil hardness distribution is the third detection point and the fourth detection point, which represent the corresponding positions of the right side soil hardness. The hardness value of each detection point is recorded by the sensor in kPa (for example, the first detection point hardness is 60 kPa, and the second detection point is 80 kPa), and is stored together with the coordinate information of the corresponding position to form a four-point data set of the hardness distribution, providing accurate real-time data for subsequent deviation calculation.

[0076] Further, the hardness deviation of the initial burial depth from the first detection point, the second detection point, the third detection point and the fourth detection point is calculated as real-time deviation information;

[0077] Further, according to the hardness values of the first detection point, the second detection point, the third detection point and the fourth detection point, the hardness deviation of the initial burial depth from these detection points is calculated to generate real-time deviation information. In specific implementation, first, according to the empirical relationship model of soil hardness and burial depth, the hardness value of each detection point is converted into the corresponding ideal burial depth. For example, based on the preset model, hardness 60 kPa corresponds to ideal depth 1.0 meter, and hardness 80 kPa corresponds to ideal depth 0.9 meter. The initial burial depth (for example, 1.1 meters at 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 1.0 meter and the initial burial depth is 1.1 meter, then = 1.1 - 1.0 = 0.1 meters; similarly, the deviations of the second, third and fourth detection points are calculated (such as = 0.15 meters, = -0.1 meters, = -0.05 meters). These deviation values are stored in an array as real-time deviation information, reflecting the degree of mismatch between the initial soil depth and the actual soil hardness distribution, providing a quantitative basis for subsequent adaptive correction.

[0078] According to the real-time deviation information, the initial soil depth is adaptively corrected using the following formula:

[0079]

[0080] wherein, is the optimized soil depth, is the initial soil depth, is the weight coefficient of the i-th detection point, is the hardness deviation of the i-th detection point; iteratively adjust until the hardness deviation meets the preset threshold to obtain the optimized soil depth.

[0081] It can be understood that, by using real-time deviation information, the initial soil depth is adaptively corrected by a specified formula to obtain the optimized soil depth. In the implementation process, the preset weight coefficients k i are loaded, which are determined according to the positions and importance of the detection points, for example, the detection points close to the center of the construction path have higher weights (such as k1 = k3 = 0.3), and the detection points far from the center have lower weights (such as k2 = k4 = 0.2). Based on the formula , the adjustment amount is calculated. For example, if the initial soil depth is 1.1 meters, the deviation values are 0.1 meters, 0.15 meters, -0.1 meters, -0.05 meters, and the weight coefficients are k1 = 0.3, k2 = 0.2, k3 = 0.3, and 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 meters, and the optimized soil depth is = 1.1 - 0.01 = 1.09 meters. Iterative calculation is performed, and the is updated each time and the hardness deviation of the detection points is reacquired until all the absolute value of the difference between the two points is less than a preset threshold (such as 0.02 meters). Finally, the optimized burial depth (such as 1.09 meters) is output and stored as a depth control parameter along the construction path, ensuring that the depth adjustment adapts to real-time changes in soil hardness.

[0082] Through the description of the above specific embodiments, the application obtains four-point hardness data by setting the first detection line and the second detection line, calculates the hardness deviation of the initial burial depth from the detection points, and performs adaptive correction using a formula, overcoming the challenge of dynamic changes in soil hardness in high-turbidity water areas and achieving precise optimization of the burial depth, providing efficient and reliable depth adjustment support for submarine cable construction.

[0083] In some embodiments, the step of adaptively correcting the initial burial depth according to the real-time deviation information further comprises:

[0084] adjusting the initial burial depth in the direction of the first detection line until the hardness deviations of the initial burial depth from the first detection point and the second detection point are balanced;

[0085] Understandably, to achieve adaptive correction of the initial burial depth, first adjust the initial burial depth in the direction of the first detection line based on real-time deviation information to balance the hardness deviations of the first detection point and the second detection point. In the implementation process, use the hardness deviation data of the first detection point and the second detection point obtained by the hardness sensor, for example, the hardness deviation of 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 of the second detection point is 0.18 meters (indicating a depth of 0.18 meters). Take the initial burial depth (for example, 1.1 meters) as the reference, and adjust the depth in the vertical direction of the first detection line (usually the left lateral direction of the construction path). The adjustment goal is to make the hardness deviation values of the first detection point and the second detection point as close as possible. Calculate the average of the two-point deviation ((0.12 + 0.18) / 2 = 0.15 meters), and adjust the initial burial depth to 1.1 meters minus 0.03 meters, i.e. 1.07 meters, so that the deviation of the first detection point is close to 0.15 meters, and the deviation of the second detection point is also close to 0.15 meters. The adjustment process is realized by a proportional control algorithm, which updates the hardness sensor data in real time and checks whether the difference between the two-point deviations is less than a preset balancing threshold (such as 0.01 meters). If the deviation difference is large, continue to fine-tune the depth until the hardness deviations of the first detection point and the second detection point are balanced, generating an intermediate adjusted burial depth.

[0086] Further, adjust the adjusted burial depth in the direction of the second detection line until the burial depth and the hardness deviations of the third detection point and the fourth detection point are balanced, and determine the optimized burial depth.

[0087] Specifically, after the adjustment in the direction of the first detection line is completed, the adjustment is continued in the direction of the second detection line (usually the right lateral of the construction path) based on the intermediate adjusted burial depth (e.g., 1.07 meters) to balance the hardness deviation of the third detection point and the fourth detection point, so as to determine the optimized burial depth. In the implementation process, using the hardness deviation data of the third detection point and the fourth detection point obtained by the hardness sensor, for example, the hardness deviation of the third detection point is -0.08 meters (indicating that the initial burial depth is 0.08 meters shallower than the ideal depth), and the hardness deviation of the fourth detection point is -0.04 meters. The average value of the deviation of the third detection point and the fourth detection point is calculated (((-0.08) + (-0.04)) / 2 = -0.06 meters), and the intermediate adjusted burial depth is further adjusted to 1.07 meters plus 0.02 meters, i.e., 1.09 meters, so that the deviation of the third detection point is close to -0.06 meters, and the deviation of the fourth detection point is also close to -0.06 meters. The adjustment process updates the hardness sensor data in real time through a proportional control algorithm, ensuring that the difference between the two-point deviations is less than a preset balancing threshold (such as 0.01 meters). It is verified whether the adjusted burial depth is within the feasible range of the construction equipment (such as 0.5 meters to 1.5 meters), if it is satisfied, the depth is confirmed as the optimized burial depth (such as 1.09 meters), and is stored as a construction control parameter; if it is not satisfied, the depth is continuously fine-tuned and recalculated until the deviation is balanced and the equipment constraint condition is met.

[0088] In some embodiments, as shown in FIG. 6, the step of obtaining the stability information of the submarine cable burial construction based on the adaptive control of the submarine cable construction equipment according to the optimized burial depth comprises: Figure 2

[0089] Step S61: dividing the submarine cable construction path into a preset number of equal segments based on the optimized burial depth;

[0090] ​Specifically, to achieve adaptive control of the cable laying equipment and evaluate the stability of the construction, the cable laying path is divided into a preset number of equal segments based on the optimized burial depth. In the implementation process, the optimized burial depth data (e.g., one depth value per meter along the construction path, ranging from 0.5 meters to 1.5 meters) is loaded, and the number of equal segments is set according to the total length of the construction path (e.g., 1000 meters) and the control accuracy of the construction equipment (e.g., 100 segments, each with a length of 10 meters). When dividing, the construction path is evenly divided by linear distance, and each equal segment corresponds to an optimized burial depth value (e.g., 1.09 meters for the first segment and 1.08 meters for the second segment). To ensure the accuracy of the division, the path planning software is used to record the start and end coordinates (e.g., latitude and longitude or relative distance) of each equal segment, and the optimized burial depth is associated with the corresponding segment to form a depth distribution table. The divided equal segments are stored in an array form (e.g., [Segment 1: 1.09 meters, Segment 2: 1.08 meters, ……]), providing a clear path zoning basis for subsequent acquisition of construction resistance information. This equal segment division method can effectively decompose complex paths and facilitate segment-by-segment analysis of the stability during the construction process.

[0091] Further, in step S62, the construction resistance information of each equal segment is obtained, and the stability information of the cable burial construction is determined according to the differences in the construction resistance information between each equal segment.

[0092] The construction resistance information of each equal segment is obtained by real-time monitoring, and the stability information of the submarine cable earth penetration construction is determined according to the difference of the construction resistance information between each equal segment. In the implementation process, the pressure sensor and the torque sensor installed on the submarine cable construction equipment (such as a plow burying machine) are used to measure the construction resistance of each equal segment in real time, specifically the thrust value (in kN) of the equipment at the corresponding optimized earth penetration depth. For example, the thrust value of the first segment (optimized earth penetration depth 1.09 meters) is 20 kN, and the thrust value of the second segment (optimized earth penetration depth 1.08 meters) is 22 kN. The thrust values of each equal segment are stored as a resistance information array (such as [segment 1: 20 kN, segment 2: 22 kN, …]). Then, the difference of the thrust values between adjacent equal segments is calculated, for example, the difference between the first segment and the second segment is |20-22|=2 kN. The thrust difference of all equal segments is counted, and the average difference and the maximum difference are calculated (for example, the average difference is 1.5 kN, and the maximum difference is 3 kN). According to the preset stability judgment standard (for example, the average difference <2 kN and the maximum difference <5 kN), if the difference value is within the standard range, it is determined that the submarine cable earth penetration construction is stable, and the stability information (such as "stability index 0.9, construction stable") is generated; if the difference value exceeds the standard (for example, the maximum difference is 6 kN), it is determined that the construction is unstable, and a prompt information (such as "stability index 0.4, abnormal resistance of the 10th segment, please check") is generated, and is displayed through the water surface control center. The stability information is stored in numerical and textual forms for reference by the operator to optimize the construction parameters or suspend the construction.

[0093] The present embodiment divides the construction path into equal segments based on the optimized earth penetration depth, obtains the construction resistance information of each equal segment, and analyzes the resistance difference between adjacent equal segments, thereby realizing accurate evaluation of the stability of submarine cable earth penetration construction, overcoming the challenge of complex construction conditions in high turbidity water, and providing effective support for adaptive control of submarine cable construction equipment and construction reliability.

[0094] In some embodiments, the construction resistance information includes the thrust value of the submarine cable construction equipment, and the step of obtaining the construction resistance information of each equal segment and determining the stability information of the submarine cable earth penetration construction according to the difference of the construction resistance information between each equal segment comprises:

[0095] The thrust values of each equal segment are counted, and it is judged whether the difference of the thrust values between each equal segment is within a preset difference range;

[0096] Specifically, to determine the stability of the submarine cable burial construction, first, the thrust values of each subsection are counted, and it is determined whether the difference between the thrust values of adjacent subsections is within the preset difference range. In the implementation process, based on the above-mentioned divided subsections (for example, 100 sections, each section 10 meters), using the pressure sensor installed on the submarine cable construction equipment (such as a plow burying machine), the thrust value of each subsection is collected in real time, and the unit is kN. For example, the thrust value of the first section is 21 kN, the second section is 23 kN, and the third section is 20 kN. These thrust values are stored as an array (such as [Section 1: 21 kN, Section 2: 23 kN, Section 3: 20 kN, …]). Then, the difference between the thrust values of adjacent subsections is calculated, for example, the difference between the first section and the second section is |21-23|=2 kN, and the difference between the second section and the third section is |23-20|=3 kN. The thrust difference values of all adjacent subsections are counted to generate a difference sequence (such as [2 kN, 3 kN, …]). The preset difference range is set according to the performance of the equipment and the construction requirements, for example, the thrust difference value needs to be less than 5 kN to ensure smooth construction. The difference sequence is checked one by one to determine whether each difference is within the preset difference range (for example, ≤5 kN). If all the differences meet the conditions, the next step of stability determination is entered; if any difference exceeds the range (for example, the difference of a certain section is 6 kN), the abnormality is recorded and the subsequent processing is continued.

[0097] Further, if within the preset difference range, the stability information is that the submarine cable burial construction is stable;

[0098] It can be understood that when the thrust value difference between all subsections is within the preset difference range, it is determined that the submarine cable burial construction is stable, and the corresponding stability information is generated. In the implementation process, if all the values in the difference sequence are less than or equal to the preset difference range (for example, ≤5 kN), the statistical indicators of the difference values are calculated, such as the average difference (for example, 2.5 kN) and the maximum difference (for example, 4 kN), to further confirm the smoothness of the construction. According to these indicators, the stability information is generated, and the output is "the submarine cable burial construction is stable", with a stability index (for example, 0.92, calculated based on the closeness of the difference value to the preset range, range 0 to 1, close to 1 indicating high stability). The stability information is presented through the display interface of the surface control center for reference by the operator, and is stored in the center to record the construction state. For example, for a construction path of 100 sections, if all the thrust difference values are within 5 kN, the output is "stability index 0.92, construction stable", indicating that the construction process is uniform in stress, the equipment is running normally, and there is no need to adjust the construction parameters.

[0099] Further, if not within the preset difference range, the stability information is that the submarine cable burial construction is unstable.

[0100] Specifically, if the thrust value difference between any two segments exceeds the preset difference range, it is determined that the submarine cable burial construction is unstable, and corresponding stability information is generated. In the implementation process, if there is at least one value in the difference value sequence that exceeds the preset difference range (for example, the difference value of a certain segment is 6 kN, which exceeds 5 kN), mark this segment as an abnormal segment, and record the position of the abnormal segment (for example, "10th segment, thrust difference value 6 kN"). Calculate the statistical indicators of all difference values, such as the average difference value (for example, 3 kN) and the maximum difference value (for example, 6 kN), and generate stability information, output as "submarine cable burial construction is unstable", accompanied by stability index (for example, 0.45, indicating lower stability). In addition, the water surface control center sends a prompt message, which specifically includes the number of abnormal segments, thrust value and difference value (for example, "10th segment thrust value 25 kN, difference value 6 kN, suggest checking soil conditions or equipment status"). The prompt message is presented in the form of text and sound alarm, reminding the operator to pause the construction, check the soil hardness change or equipment running state, and adjust the construction parameters (such as reduce the pushing speed) to restore stability. The stability information is stored as a log file for subsequent analysis and optimization of construction scheme.

[0101] The application also provides a submarine cable construction burial depth adjustment system 100 based on adaptive control, as shown in Figure 3 The system 100 comprises:

[0102] An image processing module 101 is configured to obtain seabed environment images of high turbidity water area and generate corresponding feature images.

[0103] Specifically, the image processing module 101 is the core component for seabed environment perception, responsible for collecting seabed environment images in high-turbidity water areas and generating feature images. In the implementation process, the image processing module 101 is integrated on a remotely operated vehicle (ROV) equipped with a high-resolution underwater camera (such as a 4K underwater camera), and the ROV cruises along the predetermined submarine cable construction path at a constant speed (such as 0.5 meters per second) to collect seabed environment images. To address the low-visibility problem in high-turbidity water areas, the camera is equipped with a high-brightness LED light source to enhance illumination, and the images are stored in a high-resolution format (such as 1920x1080 pixels). The image processing module 101 runs image processing software internally, uses a median filter algorithm to remove noise caused by suspended particles, and preserves soil texture details. Subsequently, the image processing module 101 enhances the image contrast using adaptive histogram equalization technology, highlighting soil boundaries and topographic features. Finally, the image processing module 101 processes the image using the Canny edge detection algorithm, extracts the edge profile of the seabed soil, generates a feature image, and stores it as a two-dimensional matrix (such as 1024x1024 pixels), where white pixels represent soil boundaries and black pixels represent uniform areas. The feature image clearly reflects the distribution characteristics of the seabed soil, providing reliable data for subsequent depth positioning.

[0104] The depth positioning module 102 is used to determine the initial soil depth of the seabed soil in the feature image based on a preset soil analysis method.

[0105] Further, the depth positioning module 102 processes the feature image using a preset soil analysis method to determine the initial soil depth of the seabed soil. In the implementation process, the depth positioning module 102 runs on a server in the surface control center, loads a soil analysis model based on a support vector machine, which establishes a mapping relationship between soil texture features and soil depth by training seabed soil sample data. The depth positioning module 102 receives the feature image output by the image processing module 101, analyzes the texture density, gray scale variation, and edge distribution, identifies the soil type (such as sandy soil, clay, or silt) and its hardness characteristics (for example, hardness range 20-200 kPa). According to the identification result, the depth positioning module 102 uses a depth optimization algorithm, considering the submarine cable protection requirements and the power constraints of the construction equipment, to calculate the initial soil depth. For example, for sandy soil with high hardness (150 kPa), the depth positioning module 102 sets the initial soil depth to 0.8 meters; for soft silt (30 kPa), it is set to 1.2 meters. The calculation result is stored in the form of a depth distribution curve (such as one depth value per meter), and it is verified whether it meets the construction feasibility conditions (such as a depth range of 0.5-1.5 meters). If not, the depth positioning module 102 outputs an abnormal prompt and suspends processing until the parameters are adjusted. This initial soil depth provides a reference for subsequent depth correction.

[0106] The depth correction module 103 is configured to obtain real-time deviation information of the initial burial depth and the seabed soil hardness distribution, and to adaptively correct the initial burial depth according to the deviation information to obtain an optimized burial depth.

[0107] Further, the depth correction module 103 corrects the initial burial depth to adapt to the dynamically changing construction environment by monitoring the soil hardness distribution in real time. In the implementation process, the depth correction module 103 is integrated on the submarine cable construction equipment and is equipped with a multi-point hardness sensor to collect soil hardness data at fixed intervals (e.g., 0.3 meters) along the construction path to form a real-time hardness distribution (e.g., a hardness value sequence [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 information. For example, if a hardness of 80 kPa 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 according to the deviation size, for example, reducing 0.05 meters when the hardness is higher and increasing 0.05 meters when the hardness is lower. The adjustment process is iteratively calculated until the deviation value is less than a preset threshold (e.g., 0.03 meters). Finally, the depth correction module 103 outputs the optimized burial depth (e.g., 1.08 meters) 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 the changes in soil hardness in real time.

[0108] The construction control module 104 is configured to adaptively control the submarine cable construction equipment based on the optimized burial depth to obtain stability information of the submarine cable burial construction.

[0109] Finally, the construction control module 104 performs adaptive control on the submarine cable construction equipment based on the optimized burial depth, and generates construction stability information. In the implementation process, the construction control module 104 runs on the programmable logic controller (PLC) of the construction equipment, receives the optimized burial depth (such as 1.08 meters) output by the depth correction module 103, converts it into equipment control instructions, and adjusts the depth of the plow and the hydraulic thrust of the plow burying machine. For example, for a depth of 1.08 meters, the construction control module 104 sets the thrust to 20 kN and the advance speed to 0.3 meters / second. The construction control module 104 monitors the construction resistance (for example, a thrust value of 22 kN) and the actual depth deviation (for example, ±0.02 meters) in real time through pressure sensors and displacement sensors. The construction control module 104 calculates the resistance fluctuation range (for example, ±10%), and if the fluctuation is within the preset range (such as ±15%), generates stability information of “construction stable” with a stability index (such as 0.9, range 0-1); if the fluctuation is out of range (such as ±20%), generates “construction unstable” information with a prompt (such as “abnormal resistance at section 5, suggest checking”), which is displayed through the surface control center. The stability information is stored as a log for subsequent optimization of construction parameters.

[0110] The present embodiment generates feature images through the image processing module 101, determines the initial burial depth through the depth positioning module 102, realizes adaptive depth adjustment through the depth correction module 103, and ensures construction stability through the construction control module 104, overcoming the challenges of complex environment and hardness changes in high-turbidity water areas, and providing efficient and reliable system support for precise control of the burial depth of submarine cable construction.

[0111] In some embodiments, the depth correction module 103 further comprises:

[0112] A deviation calculation unit is 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 of the first detection line and a third detection point and a fourth detection point of the second detection line of the seabed soil hardness distribution, and calculate the hardness deviation of the initial burial depth and each detection point.

[0113] It can be understood that the bias calculation unit is the core component of the depth correction module 103, responsible for monitoring the seabed soil hardness distribution and calculating the deviation of the initial soil depth and the actual hardness requirement. In the implementation process, the unit receives the initial soil depth data (for example, 1.1 meters, based on the depth positioning module 102 generated). The unit first sets the first detection line and the second detection line based on the initial soil depth, respectively along the left and right sides of the construction path in the vertical direction, with a fixed interval (such as 1 meter) to cover the soil hardness change area. The bias calculation unit measures the hardness values of two key points along the first detection line by the multi-point hardness sensor installed on the construction equipment, determines the first detection point and the second detection point (for example, the first detection point hardness 60 kPa, the second detection point hardness 80 kPa); measure another two key points along the second detection line to determine the third detection point and the fourth detection point (for example, the third detection point hardness 70 kPa, the fourth detection point hardness 65 kPa). The unit converts the hardness values of each detection point into ideal soil depth according to the preset hardness-depth mapping model (for example, 60 kPa corresponds to 1.0 meter, 80 kPa corresponds to 0.9 meter). Then, the unit calculates the difference between the initial soil depth and the ideal depth of each detection point to generate the hardness deviation, for example, the first detection point deviation is 1.1 - 1.0 = 0.1 meters, the second detection point deviation is 1.1 - 0.9 = 0.2 meters, the third detection point deviation is 1.1 - 0.95 = 0.15 meters, and the fourth detection point deviation is 1.1 - 0.98 = 0.12 meters. These deviation values are stored in an array form (such as [0.1 meters, 0.2 meters, 0.15 meters, 0.12 meters]) for use by the depth optimization unit.

[0114] a depth optimization unit for adaptively correcting the initial soil depth according to the hardness deviation to obtain an optimized soil depth.

[0115] Further, the depth optimization unit adaptively corrects the initial burial depth according to the hardness deviation data provided by the deviation calculation unit to obtain the optimized burial depth. In the implementation process, this unit runs in the embedded controller of the construction equipment, receives the hardness deviation array output by the deviation calculation unit (for example, [0.1 meters, 0.2 meters, 0.15 meters, 0.12 meters]). The unit uses an adaptive control algorithm (such as fuzzy control) to adjust the initial burial depth according to the size and distribution of the deviation. The adjustment strategy is based on the weighted average of the deviation, and the weight is determined according to the position of the detection point. For example, the weight of the detection point close to the center of the construction path is higher (such as 0.3), and the weight of the detection point far from the center is lower (such as 0.2). The unit calculates the weighted deviation (for example, 0.3x0.1 +0.2x0.2 + 0.3x0.15 + 0.2x0.12 = 0.139 meters), and adjusts the initial burial depth to 1.1 - 0.139 = 0.961 meters. After adjustment, the unit re-collects the detection point data through the hardness sensor to verify whether the deviation of the new depth is less than the preset threshold (such as 0.02 meters). If the deviation is still large, the unit iteratively adjusts the depth (for example, fine-tune ± 0.01 meters) until the hardness deviation of all detection points meets the threshold requirement. Finally, the unit outputs the optimized burial depth (such as 0.96 meters), stores it as a construction control parameter, and transmits it to the construction control module 104. This process ensures that the depth correction can adapt to the changes in soil hardness in real time, improving the construction accuracy.

[0116] In some embodiments, the construction control module 104 further comprises:

[0117] A path segmentation unit for dividing the submarine cable construction path into a preset number of equal segments based on the optimized burial depth.

[0118] In particular, the path segmentation unit is the core component of the construction control module 104, responsible for dividing the cable construction path into a preset number of equal segments based on the optimized burial depth, to support subsequent stability analysis. In the implementation process, the unit runs in the control system of the construction equipment, receives the optimized burial depth data (e.g., one depth value per meter along the construction path, ranging from 0.5 meters to 1.5 meters, generated based on the depth correction module 103). 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. When dividing, the unit calculates the start and end coordinates of each equal segment (e.g., expressed in relative distance, segment 1 is 0-10 meters, segment 2 is 10-20 meters) through path planning software. Each equal segment is associated with a corresponding optimized burial 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 the accuracy of the division, the unit verifies that the total length of the path is consistent with the product of the number of segments, and checks whether the depth value of each equal segment is within the feasible range of the equipment (e.g., 0.5-1.5 meters). The division result is stored in an array form for use by the stability analysis unit. This equal segment division method breaks down the complex construction path into manageable units, facilitating segment-by-segment monitoring and control.

[0119] The stability analysis unit is configured to obtain construction resistance information for each equal segment, and determine stability information for the cable burial construction based on the differences in construction resistance information between the equal segments.

[0120] Specifically, the stability analysis unit analyzes the resistance difference between adjacent equal segments by monitoring the construction resistance information of each equal segment in real time, and determines the stability information of the submarine cable burial construction. In the implementation process, the unit is integrated on the programmable logic controller (PLC) of the construction equipment, equipped with pressure sensors and torque sensors, and real-time acquisition of the construction resistance information of each equal segment, specifically the pushing force value of the submarine cable construction equipment (such as a plow burying machine) at the corresponding optimized burial depth, unit kN. For example, the pushing force value of segment 1 (optimized burial depth 1.08 meters) is 22 kN, and the pushing force value of segment 2 (optimized burial depth 1.07 meters) is 24 kN. The unit stores the pushing force value as an array (such as [segment 1: 22 kN, segment 2: 24 kN, …]). Then, the unit calculates the pushing force difference value between adjacent equal segments, for example, the difference value between segment 1 and segment 2 is |22-24|=2 kN, and the difference value between segment 2 and segment 3 is |24-21|=3 kN. The unit calculates the average difference value (for example, 2.2 kN) and the maximum difference value (for example, 4 kN) by counting all the difference values, and compares them with the preset difference value range (for example, ≤5 kN). If all the difference values are within the range, the unit generates the stability information as "submarine cable burial construction stable", accompanied by a stability index (such as 0.90, based on the closeness of the difference value to the range, range 0-1); if there is a difference value exceeding the range (for example, the difference value of segment 10 is 6 kN), the unit generates "submarine cable burial construction unstable", accompanied by prompt information (such as "segment 10 pushing force difference value 6 kN, suggest checking soil conditions"), displayed through the water surface control center. The stability information is stored in the form of a log for subsequent analysis and optimization of construction parameters.

[0121] The above only describes exemplary embodiments of the present application, and does not limit the patent scope of the present application. Any equivalent structural transformation based on the technical concept of the present application, or direct / indirect application in other related technical fields is included in the patent protection scope of the present application.

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 an initial burial depth of the seabed soil in the characteristic image based on a preset soil analysis method, including: extracting soil characteristics from the characteristic image based on the preset soil analysis method to identify the hardness distribution and topographic undulations of the seabed soil; generating an initial burial depth using a depth optimization algorithm based on the hardness distribution and topographic undulations; and determining, when the initial burial depth meets a preset construction feasibility condition, using the initial burial depth as the initial burial depth; otherwise, outputting a prompt message indicating that the depth planning failed. 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 an optimized burial depth; the method 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, Determined by: based on a preset empirical relationship model between soil hardness and burial depth, converting the hardness value of each test point into the corresponding ideal burial depth, and calculating the difference between the initial burial depth and the ideal burial depth at each test point; Iteratively adjusting until the hardness deviation meets a preset threshold value to obtain an optimized burial depth; the step of adaptively correcting the initial burial depth based on 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 of the first detection point and the second detection point; adjusting the adjusted burial depth along the direction of the second detection line until the burial depth is balanced with the hardness deviation of the third detection point and the fourth detection point, thereby determining the 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 embedded in the earth based on adaptive control according to any one of claims 1 to 2, characterized in that: 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.

4. The method for adjusting the depth of submarine cable construction embedded in the earth based on adaptive control according to claim 3, 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.

5. 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 is configured to determine the initial burial depth of the seabed soil in the feature image based on a preset soil analysis method, extract soil characteristics from the feature image based on the preset soil analysis method, and identify the hardness distribution and topographic undulations of the seabed soil; generate the initial burial depth using a depth optimization algorithm based on the hardness distribution and topographic undulations; and use the initial burial depth as the initial burial depth if it meets preset construction feasibility conditions; otherwise, output a prompt indicating that the depth planning has failed. 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 based on the deviation information to obtain an optimized burial depth; 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, and obtain a third detection point and a fourth detection point between the second detection line and the seabed soil hardness distribution, and calculate the hardness deviations between the initial burial depth and the first, second, third, and fourth detection points, respectively, as real-time deviation information; The depth correction module further includes a depth optimization unit for adaptively correcting the initial burial depth using the following formula based on the real-time deviation information: 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, and the hardness value of each detection point is converted into the corresponding ideal soil embedment depth based on a preset empirical relationship model between soil hardness and soil embedment depth, and the difference between the initial soil embedment depth and the ideal soil embedment depth of each detection point is calculated and determined; the depth optimization unit is further used to iteratively adjust until the hardness deviation meets the preset threshold, and adjust the initial soil embedment depth along the direction of the first detection line until the initial soil embedment depth is balanced with the hardness deviation of the first detection point and the second detection point; adjust the adjusted soil embedment depth along the direction of the second detection line until the soil embedment depth is balanced with the hardness deviation of the third detection point and the fourth detection point, and determine the optimized soil embedment 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.

6. The system for adjusting the depth of submarine cable construction embedded in the earth based on adaptive control according to claim 5, 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 the construction resistance information between the equal segments.

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