Integrated operation equipment and operation method for a submarine cable and a protection device thereof

Abstract

The application discloses a kind of submarine cable and its protection device integration operation equipment and operation method, it is related to marine engineering technical field.The equipment is based on the platform of track-laying vehicle, integrates anti-scour system, protection device installation system and identification and control system, collaborates with work ship to complete submarine cable anti-scour grouting and the automatic installation maintenance of protection component.Anti-scour system realizes in-situ grouting reinforcement by environmental protection type mud formula, protection device installation system can efficiently replace bending limiter and other components, identification and control system ensure accurate positioning and intelligent operation.The application solves the problem that traditional operation relies on diver, low efficiency, high safety risk, has high adaptability, intelligent and green environmental protection characteristics, significantly improves the reliability and operation efficiency of submarine cable engineering, and has wide application prospect.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of offshore engineering equipment, and in particular to an integrated operation equipment and method for a submarine cable and its protection device. BACKGROUND

[0002] With the increasing scale and complexity of submarine engineering, higher requirements are put forward for the construction and maintenance of submarine cables and their protection devices. However, current submarine operations mainly rely on surface ships, remotely operated vehicles (ROVs), autonomous underwater vehicles (AUVs) and divers for operation. These methods meet the basic needs to some extent, but still have significant shortcomings. For example, the operation efficiency is low, the construction period is long, the adaptability to complex or dangerous scenes is limited, and divers face high safety risks. In particular in the field of submarine cable protection, statistics show that more than 80% of cable damage is caused by mechanical external force, and wave flow erosion is one of the important factors leading to cable exposure, suspension and even breakage. Although some projects have applied submarine cable protection devices, when these devices break or fail, the existing technology lacks reliable and efficient solutions. In addition, traditional erosion protection methods such as riprap protection have problems such as short protection period, high failure risk and poor operation accuracy, which are difficult to meet the requirements of modern submarine engineering for long-term stability and construction accuracy.

[0003] Chinese patent document CN 119787237 A discloses a device for laying submarine pipes and cables, which realizes the burial and stability of submarine cables through a base, a fixing structure and a flow resistance plate, and can adapt to seabed erosion deformation. Patent CN 221841205 U discloses a submarine cable detection equipment, which realizes the positioning and detection of submarine cables with large burial depth by using a high-pressure water pipeline, a nozzle and a sonar probe. However, the above technical solutions are limited to passively adapting to seabed changes or providing positioning information, lack active construction, protection and maintenance capabilities, and cannot realize integrated, in-situ and multifunctional integrated operation in complex submarine environments. Therefore, there is an urgent need for an integrated operation equipment and method that can efficiently complete the submarine cable anti-erosion reinforcement and the installation and maintenance of protection devices, in order to break through the bottleneck of existing technology and improve the safety, efficiency and economy of submarine engineering. SUMMARY

[0004] The present application proposes an integrated operation equipment and method for a submarine cable and its protection device to solve the problems of low efficiency, poor safety and insufficient adaptability to complex working conditions in the prior art. The technical solution integrates a tracked mobile platform, an anti-erosion system, a protection device installation system and an identification and control system to realize in-situ anti-erosion reinforcement of submarine cables and automatic installation and maintenance of protection devices.

[0005] Specifically, the application provides an integrated operation equipment for a submarine cable and a protection device thereof, comprising a tracked vehicle, an anti-scour system, a protection device installation system and an identification and control system.

[0006] The tracked vehicle serves as a basic mobile platform and integrates the anti-scour system, the protection device installation system and the identification and control system. The anti-scour system comprises a slurry storage tank, a slurry pump and an adjustable slurry pipe.

[0007] The protection device installation system comprises a mechanical device, which is used for underwater replacement and installation of the protection device of the submarine cable through driving.

[0008] The identification and control system is responsible for power supply, operation instruction transmission and feedback control of the tracked vehicle, the anti-scour system and the protection device installation system.

[0009] Further, the tracked vehicle is provided with two tracks, and a plurality of grousers are distributed on each track.

[0010] Further, the slurry storage tank is internally provided with stirring blades, the connecting pipe is provided with an electromagnetic valve and a flowmeter, the slurry pump is connected with the slurry storage tank through the electromagnetic valve and the flowmeter, and the outlet height of the adjustable slurry pipe is adjusted through a hydraulic driving mechanism.

[0011] Further, an operation ship is arranged on the sea surface, and the operation ship is provided with a slurry preparation pool.

[0012] Further, the slurry preparation pool is internally provided with a stirrer and a vibration system.

[0013] Further, the protection device of the submarine cable comprises a bend limiter and a sleeve, the protection device installation system further comprises an oil cylinder, an extension rod, a storage bin and a conveying table, the oil cylinder drives the extension rod to realize length direction adjustment through hydraulic driving, the end of the extension rod is connected with the mechanical device through a universal joint, the storage bin is used for storing the bend limiter and the sleeve to be installed, and the conveying table conveys the bend limiter and the sleeve from the storage bin to the operation position of the mechanical device.

[0014] Further, the mechanical device is arranged as a symmetrical double-arm structure, each arm comprising a gripper, a bolt fastener and a cutter, the gripper being designed with multiple degrees of freedom, and the bolt fastener being equipped with a torque sensor.

[0015] Further, the identification and control system is connected with the work ship through a signal cable, and the signal cable and the delivery riser share a sheathed structure.

[0016] Compared with the prior art, the present application has the following beneficial effects:

[0017] (1) By means of the integrated system, the technical bottleneck of the traditional operation mode, i.e. the dependence on divers, low operation efficiency and high safety risk, is solved, and the installation and removal of components such as a bend limiter can be efficiently completed under complex seabed conditions by means of the protection device installation system, and the adaptability and precision are greatly improved.

[0018] (2) By means of the grouting system, the in-situ reinforcement of the exposed or suspended submarine cable section is performed, and the erosion resistance is significantly improved, the whole system has strong operation continuity and high intelligentization, the grouting time can be accurately controlled by means of the integrated grouting module of the system, and stable grouting can be realized even when the tracked vehicle is moving underwater; and the in-situ grouting mode makes the grouting less prone to channeling.

[0019] (3) By means of the cooperative work of the work ship, the synchronous filling and extrusion operation during grouting can be supported, the large-volume construction and the fine operation under complex terrain are taken into account, the whole system has continuous operation capability, the adjustable track and the buoyancy of the tracked vehicle, and the adjustable grouting pipe are arranged, so that the adaptability and reliability of the in-situ grouting are significantly improved, and therefore the system has good environmental adaptability and construction economy, high operation precision and efficiency, and good engineering application prospect. BRIEF DESCRIPTION OF DRAWINGS

[0020] Figure 1 is a schematic view of the operation equipment of the embodiment of the present application during operation;

[0021] Figure 2 is a structural schematic view of the tracked vehicle and the erosion prevention system of the present application;

[0022] Figure 3 is a structural schematic view of the tracked vehicle integrated with the erosion prevention system and the protection device installation system of the present application;

[0023] Figure 4 is a top view of the erosion prevention range of the erosion prevention system of the present application after grouting of the submarine cable;

[0024] Figure 5 is a side view of the erosion prevention range of the erosion prevention system of the present application after grouting of the submarine cable;

[0025] Figure 6 Figure 1 is a structural diagram of an integrated operation equipment in the application, which is a marine operation ship and underwater equipment;

[0026] Figure 7 Figure 2 is a structural diagram of a bending limiter in the application;

[0027] Figure 8 Figure 3 is a structural diagram of a sleeve in the application;

[0028] Figure 9 Figure 4 is a structural diagram of a mechanical device in the application;

[0029] Figure 10 Figure 5 is a flow chart of an operation method of the operation equipment in the application.

[0030] In the figure: 1. tracked vehicle; 2. J-shaped pipe; 3. submarine cable; 4. protection device; 41. bending limiter; 42. sleeve; 5. scour protection system; 51. mud; 52. mud pump; 53. mud storage tank; 54. electromagnetic valve; 55. flow meter; 56. connecting pipe; 57. adjustable mud pipe; 6. protection device installation system; 61. mechanical device; 611. bolt fastener; 612. grabber; 613. cutter; 62. telescopic rod; 63. oil cylinder; 64. storage bin; 65. conveying table; 66. universal joint; 7. identification and control system; 8. operation ship; 81. mud preparation pool; 82. agitator; 83. vibration system; 84. delivery riser; 85. signal cable; 86. armor; 9. seabed. DETAILED DESCRIPTION

[0031] The technical solutions in the embodiments of the application will be clearly and completely described below with reference to the drawings in the embodiments of the application. Obviously, the described embodiments are only part of the embodiments of the application, rather than all the embodiments of the application. Based on the embodiments in the application, all other embodiments obtained by those skilled in the art without creative work fall within the protection scope of the application.

[0032] In combination with Figures 1 to 10 the drawings, the application provides an integrated operation equipment of a submarine cable and a protection device thereof, and the integrated operation equipment of the submarine cable and the protection device thereof comprises a tracked vehicle 1, a scour protection system 5, a protection device installation system 6 and an identification and control system 7; wherein:

[0033] The tracked vehicle 1 is a basic mobile platform, and integrates the scour protection system 5, the protection device installation system 6 and the identification and control system 7;

[0034] The anti-scouring system 5 comprises a slurry storage tank 53, a slurry pump 52 and an adjustable slurry pipe 57, the slurry storage tank 53 is connected with the slurry pump 52 through a connecting pipe 56 at one end, and is connected with the adjustable slurry pipe 57 at the other end, slurry enters the slurry storage tank 53 through the slurry pump 52, and the slurry pipe 57 is used for in-situ grouting treatment of the exposed or suspended submarine cable in the seabed 9;

[0035] The protection device installation system 6 comprises a mechanical device 61, which is used for completing underwater replacement and installation of the protection device of the submarine cable by driving the mechanical device 61;

[0036] The identification and control system 7 undertakes power supply, operation instruction transmission and feedback control tasks of the tracked vehicle 1, the anti-scouring system 5 and the protection device installation system 6.

[0037] As shown in Figure 1 、 Figure 3 、 Figure 5 , by taking the tracked vehicle 1 as a basic mobile platform, and integrating the anti-scouring system 5, the protection device installation system 6 and the identification and control system 7, in-situ anti-scouring reinforcement of the submarine cable 3 and automatic installation and maintenance of the protection device 4 of the submarine cable 3 arranged at the seabed pipe opening position of the J-shaped pipe 2 are realized.

[0038] The application solves the technical bottleneck of the conventional operation mode, such as dependence on divers, low operation efficiency and high safety risk, by the integrated system arrangement, the anti-scouring capacity is significantly improved by in-situ reinforcement of the exposed or suspended submarine cable section through the grouting system; the protection device installation system can efficiently complete disassembly and assembly of the bend limiter and other components under complex seabed conditions, and the adaptability and precision are greatly improved. The whole system has strong operation continuity and high intelligent degree, the grouting module can accurately control the grouting time, and stable grouting can be realized even when the tracked vehicle is in the underwater moving state; and the in-situ grouting mode makes the grouting difficult to flow, and supports synchronous filling and extrusion operation, and takes into account large-volume construction and fine operation under complex terrain, and significantly improves the adaptability and reliability of in-situ grouting, so that the system has good environmental adaptability and construction economy.

[0039] The tracked vehicle 1 is a core mobile platform of the whole operation equipment, and the structural design fully considers the adaptability requirement of the complex seabed environment. Figure 3As shown, the tracked vehicle 1 is provided with two tracks, and a plurality of grousers are distributed on each track. The grousers are adjustable in pitch and height by means of bolt connection to cope with the terrain conditions of soft or irregular seabed 9. The grousers are made of wear-resistant material to ensure good grip performance in long-term operation. In addition, the tracked vehicle 1 is also provided with a buoyancy adjusting device at the bottom, which controls the overall buoyancy by charging and discharging water, so that the equipment can maintain a stable posture under different water depth conditions. For example, in shallow water areas, the buoyancy adjusting device reduces the displacement to increase the weight of the equipment, thereby improving the stability; while in deep water areas, the displacement is increased to reduce the weight of the equipment, thereby reducing the underwater resistance. The design of the tracked vehicle 1 combines the concept of modularity, facilitating the replacement and maintenance of parts, and further improving the reliability of the equipment.

[0040] The erosion prevention system 5 is an important part of the present application, which is used for in-situ grouting treatment of the exposed or suspended submarine cable in the seabed 9 by injecting mud 51, as shown in Figure 4 、 Figure 5 . Specifically, as shown in Figure 2 、 Figure 3 , the erosion prevention system 5 includes a mud tank 53, a mud pump 52 and an adjustable mud pipe 57. One end of the mud tank 53 is connected to the mud pump 52 through a connecting pipe 56, and the other end of the mud tank 53 is connected to the adjustable mud pipe 57. The slurry enters the mud tank 53 through the mud pump 52, and is used for in-situ grouting treatment of the exposed or suspended submarine cable in the seabed 9 through the adjustable mud pipe 57.

[0041] The mud tank 53 is designed to have a moderate capacity, and is kept empty before the equipment is put into the sea to avoid sedimentation or pumping difficulty due to mud standing. The mud tank 53 is provided with stirring blades inside to prevent mud stratification by low-speed rotation, ensuring the uniformity of the mud. The mud pump 52 is connected to the mud tank 53 through a solenoid valve 54 and a flowmeter 55. The mud pump 52 is responsible for pumping mud out and delivering it to the adjustable mud pipe 57 through the connecting pipe 56. The flowmeter 55 monitors the grouting flow in real time to ensure the stability and controllability of the construction parameters. The adjustable mud pipe 57 is arranged outside the equipment, and the height of its outlet can be adjusted by a hydraulic drive mechanism to adapt to different depths and slopes of the construction environment. For example, in steep terrain, the hydraulic drive mechanism adjusts the outlet height of the adjustable mud pipe 57 to a lower position to ensure that the mud can be accurately injected into the target area.

[0042] The mud 51 adopts an environmentally friendly formula, which is a double slurry mixed by cement and water glass in a ratio of 7:3, and about 0.3% additives are added into the double slurry. This formula not only enhances the structural strength between the particles of the soil around the submarine cable entry section, but also has low permeability, avoiding pollution to the surrounding marine environment. The grouting range is determined according to the characteristics of the seabed 9 and the seabed working conditions. The grouting depth is set to be not less than 2 times the scouring depth, and the grouting width and length are set to be not less than 1.2 times the scouring width, to ensure sufficient reinforcement coverage. During the grouting process, the grouting pressure is detected by a pressure sensor, and the grouting is automatically stopped when the pressure exceeds the preset threshold, to prevent excessive grouting from damaging the structure of the seabed 9. For example, in Figure 4 and Figure 5 , the grouting range covers the soil around the submarine cable 3, forming a stable reinforced area and significantly improving the anti-scouring ability.

[0043] Further, as shown in Figure 6 , the work ship 8 is also provided on the sea surface, and the mud preparation pool 81 is provided on the work ship 8. The bottom of the mud preparation pool 81 is provided with a delivery riser 84, which injects mud into the mud storage tank 53 according to the work requirements. The mud preparation pool 81 is provided with a stirrer 82 and a vibration system 83, which configure the mud by stirring and vibrating. The stirrer 82 adopts a double-shaft design to ensure uniform mixing of the mud, and the vibration system 83 accelerates the discharge of bubbles in the mud through high-frequency vibration to improve the quality of the mud.

[0044] According to the pre-scan results near each submarine cable 3, a scouring prevention grouting scheme is developed to determine the total amount of mud required for each operation, the amount of mud injected into the mud storage tank 53, the number of mud delivery times, and the operation time. The pre-scan results show that there is a large scouring risk area around the submarine cable 3, and the identification and control system 7 generates a grouting scheme accordingly, and injects appropriate amount of mud into the mud storage tank 53 through the delivery riser 84, to ensure the continuity and efficiency of the grouting operation.

[0045] As shown in Figure 7 and Figure 8 , the protection device of the submarine cable includes a bend limiter 41 and a sleeve 42, which are designed as a half-symmetrical structure, facilitating bilateral clamping and bolt fixation on the submarine cable 3, and improving the uniformity of structural stress and service reliability.

[0046] As shown in Figure 3 , Figure 9As shown, the protection device installation system 6 is integrated inside the tracked vehicle 1 for completing the underwater replacement and installation of the bender 41 and the sleeve 42, and the protection device installation system 6 further comprises a hydraulic cylinder 63, an extension rod 62, a storage bin 64 and a conveying table 65, the hydraulic cylinder 63 drives the extension rod 62 to adjust the length direction, the end of the extension rod 62 is connected with a mechanical device 61 through a universal joint 66, which can realize flexible adjustment of the direction and length to adapt to the fine installation operation in complex positions, the storage bin 64 is used for storing the bender 41 and the sleeve 42 to be installed, and the storage bin 64 is provided with partition plates inside to facilitate classified storage of protection components of different specifications. The conveying table 65 conveys the bender 41 and the sleeve 42 from the storage bin 64 to the working position of the mechanical device 61 to realize automatic assembly operation flow.

[0047] The mechanical device 61 is arranged in a symmetrical double-arm structure, each arm comprising a grabber 612, a bolt fastener 611 and a cutter 613. The grabber 612 is designed with multiple degrees of freedom, which can accurately grab the protection component and complete the assembly positioning. The bolt fastener 611 is equipped with a torque sensor to ensure that the bolt fastening torque meets the design requirements. The cutter 613 is used to break the old component, and the blade thereof is made of hard alloy material, which has high wear resistance and cutting efficiency.

[0048] As shown in Figure 3 The identification and control system 7 is connected with the work ship 8 through a signal cable 85, and undertakes the power supply, operation instruction transmission and feedback control tasks of the tracked vehicle 1, the scour protection system 5 and the protection device installation system 6. The signal cable 85 and the conveying riser 84 share a sheath 86 to improve the scour resistance and mechanical stability. The identification and control system 7 can accurately locate the position of the target submarine cable 3 and its protection device 4 which are exposed or suspended based on the sonar detection technology and image recognition algorithm, and generate a three-dimensional model to assist operation planning. The whole system can sequentially complete the target identification, component grabbing, old part removal, new part installation and grouting operation under the instruction of the identification and control system 7, to realize truly automatic and intelligent submarine integrated operation. In actual operation, the identification and control system 7 first obtains the accurate position information of the submarine cable 3 through the sonar detection technology, then generates a three-dimensional model and plans the operation path. Subsequently, the mechanical device 61 completes the removal of the old bender 41 and the installation of the new bender 41 in sequence according to the instruction, and finally grouts and reinforces the submarine cable 3 through the scour protection system 5.

[0049] Based on the above-mentioned submarine cable and protection device integrated operation equipment, the application further provides an operation method of the submarine cable and protection device integrated operation equipment: the specific steps are as follows:

[0050] S1: The protection device installation system 6 is started, and the mechanical device 61 is used to automatically disassemble and assemble the protection device of the submarine cable composed of the limit bender and the sleeve 42, so as to realize efficient, accurate and safe underwater operation without the intervention of divers.

[0051] S2: After the installation of the protection device is completed, the work ship 8 prepares the mud 51 used for grouting in real time, and then the mud is transported to the mud storage tank 53 in the scour protection system 5 on the tracked vehicle 1 on the seabed through the delivery vertical pipe 84, and the continuous and stable supply of the mud is ensured.

[0052] S3: Under the instruction of the identification and control system 7, the exposed or suspended submarine cable 3 is accurately positioned, the tracked vehicle 1 drives the mud pump 52 in the scour protection system 5, and the in-situ grouting of the exposed or suspended submarine cable 3 in the seabed 9 is implemented through the adjustable grout pipe 57.

[0053] The grouting process realizes the stable formation of the grout on the seabed through the controllable grout setting time and the height of the adjustable grout pipe 57, significantly enhances the structural strength of the seabed cover layer, and effectively improves the anti-scouring ability of the soil around the submarine cable.

[0054] The whole operation process relies on the real-time feedback and path planning of the identification and control system 7, guarantees the continuity of construction and high-precision positioning, adapts to complex terrain and deep water environment, significantly improves the construction efficiency and engineering quality, and promotes the intelligent and green development of submarine cable protection operation.

[0055] Compared with the prior art, the application provides a safe, efficient, green and integrated seabed operation scheme, which can significantly improve the operation reliability and operation efficiency of submarine cable engineering, and has wide engineering application prospect and promotion value.

[0056] In particular, the application adopts an environmentally friendly mud formula and an automatic operation process, which minimizes the impact on the marine environment. At the same time, through modular design and intelligent control system, the equipment maintenance cost and operation difficulty are reduced, which provides reliable technical support for submarine cable engineering, can significantly shorten the construction period, improve the operation safety, and effectively prolong the service life of the submarine cable.

Claims

1. An integrated operating equipment for submarine cables and their protective devices, characterized in that: The system includes a tracked vehicle, an anti-scour system, a protective device installation system, and an identification and control system. The tracked vehicle serves as the basic mobile platform, integrating the anti-scour system, protective device installation system, and identification and control system. The anti-scour system includes a slurry storage tank, a mud pump, and an adjustable slurry pipe. One end of the slurry storage tank is connected to the mud pump via a connecting pipe, and the other end is connected to the adjustable slurry pipe. Slurry enters the storage tank through the mud pump and is then used to perform in-situ grouting treatment on exposed or suspended submarine cables on the seabed through the adjustable slurry pipe. The outlet height of the adjustable slurry pipe is adjusted by a hydraulic drive mechanism to adapt to different depths and slopes in the construction environment. The protective device installation system includes mechanical components, which are driven to perform underwater replacement and installation of protective devices for submarine cables; the identification and control system is responsible for the power supply, operation command transmission and feedback control of the tracked vehicle, the anti-scour system and the protective device installation system. The protective device for the submarine cable includes a bend limiter and a sleeve. The installation system for the protective device also includes a hydraulic cylinder, a telescopic rod, a storage compartment, and a conveyor. The hydraulic cylinder adjusts the length of the telescopic rod by hydraulically driving it. The end of the telescopic rod is connected to the mechanical device via a universal joint. The storage compartment is used to store the bend limiter and the sleeve to be installed. The conveyor transports the bend limiter and the sleeve from the storage compartment to the working position of the mechanical device. The machine is designed with a symmetrical double-arm structure. Each arm includes a gripper, a bolt fastener, and a cutter. The gripper is designed with multiple degrees of freedom, and the bolt fastener is equipped with a torque sensor. The identification and control system is based on sonar detection technology and image recognition algorithms. It can accurately locate the position of exposed or suspended submarine cables and their protective devices, and generate a three-dimensional model to assist in operation planning. A work vessel is set up on the sea surface. The work vessel is equipped with a mud preparation tank. A conveying riser is installed at the bottom of the mud preparation tank, and the conveying riser injects mud into the mud storage tank.

2. The integrated operating equipment for submarine cables and their protective devices as described in claim 1, characterized in that: The tracked vehicle is equipped with two tracks, each track having several teeth. The teeth are fixed to the tracks by bolts, which are used to adjust the spacing and height of the teeth. A buoyancy adjustment device is installed at the bottom of the tracked vehicle.

3. The integrated operating equipment for submarine cables and their protective devices as described in claim 1, characterized in that: The slurry storage tank is equipped with stirring blades, and the connecting pipe is equipped with a solenoid valve and a flow meter. The mud pump is connected to the slurry storage tank through the solenoid valve and the flow meter.

4. The integrated operating equipment for submarine cables and their protective devices as described in claim 1, characterized in that: The mud preparation tank is equipped with a stirrer and a vibration system. The stirrer adopts a dual-shaft design, and the vibration system accelerates the discharge of air bubbles in the mud through high-frequency vibration.

5. The integrated operating equipment for submarine cables and their protective devices as described in claim 1, characterized in that: The identification and control system is connected to the work vessel via a signal cable, and the signal cable and the conveying riser share an armored covering structure.

6. A method for operating an integrated working equipment for submarine cables and their protective devices as described in any one of claims 1-5, characterized in that: Includes the following steps: S1: The protective device installation system is activated, and the protective devices of the submarine cable are automatically installed and removed using mechanical equipment. S2: After the protective device is installed, the work vessel prepares the grouting slurry in real time, and then transports it through the conveying riser to the slurry storage tank of the anti-scouring system integrated on the tracked vehicle located on the seabed. S3: Under the command of the identification and control system, the exposed or suspended submarine cable is accurately located. The tracked vehicle drives the mud pump in the anti-scour system and performs in-situ grouting on the exposed or suspended submarine cable in the seabed through the adjustable grout pipe.

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