An automated system for a deep-sea trenching plow

Abstract

The application discloses a kind of deep-sea ditching plough automation systems, by remote control system and ditching plough, both are connected by redundant fiber communication. Remote control system contains host computer, controller and monitoring system, host computer stores and displays data, controller processes signal control actuator, monitoring system presents video picture. Ditching plough includes execution controller, data collector, video collector, actuator, sensor and monitor, data collector receives sensor signal transmission to controller, video collector will monitor signal transmission to monitoring system. System is automatically controlled actuator by sensor and monitor feedback, redundant communication structure ensures network security, realizes the automation operation and state monitoring of deep-sea ditching plough.

Description

Technical Field

[0001] This application relates to the field of mechanical connection and structural stability technology, and more specifically, to an automated deep-sea trenching plow system. Background Technology

[0002] Traditional deep-sea trenching plows rely on sonar image feedback for simple operator control of the actuators, which has significant shortcomings in terms of safety, reliability, and stability. Many existing underwater trenching machines are only suitable for port environments and do not consider the needs of deep-sea operations. The traditional deep-sea trenching plow structure described in CN208136988U, "An Undersea Trenching Machine," lacks fully automated functionality. Furthermore, while the deep-sea trenching machine disclosed in CN118065455A achieves partial automation through an intelligent control system, this solution primarily focuses on improving the trenching machine itself. Its intelligent control system relies on its own judgment and control, lacking a remote control system for real-time monitoring and direct control of the trenching machine, and also failing to include a video acquisition device and corresponding monitoring system. Currently, there are technological gaps in the field of deep-sea trenching regarding automated control and communication security, necessitating an automated trenching plow system suitable for the deep-sea environment. Summary of the Invention

[0003] The purpose of this application is to provide an automated deep-sea trenching plow system to solve the problems of high false alarm rate and frequent maintenance in traditional technologies, which seriously restrict the safe operation efficiency of offshore operations.

[0004] In a first aspect, this application provides an automated deep-sea trenching plow system, including a deep-sea trenching plow body, a sensor unit, a monitor unit, and an actuator unit mounted on the trenching plow body, and also including a remote control system located on the water and a redundant communication network; the output terminal of the sensor unit is signal-connected to the input terminal of the remote control system, and the output terminal of the remote control system is electrically connected to the control terminal of the actuator unit through the redundant communication network; the remote control system includes an integrated controller configured to generate automatic control commands based on real-time data from the sensor unit and the monitor unit, and switch to manual operation mode when an abnormal signal is detected.

[0005] In one embodiment, the sensor unit includes a sonar sensor, a depth sensor, and an inclination sensor, wherein the sonar sensor is disposed at the bottom of the ditching plow body, the depth sensor is distributed at the four corners of the ditching plow body, and the inclination sensor is embedded inside the ditching plow chassis.

[0006] In one embodiment, the monitor unit includes at least two sets of high-definition video acquisition units, which are respectively installed in waterproof compartments on both sides of the trenching plow body, for acquiring real-time video data of the chainsaw mechanism's soil-breaking status and the location of the submarine cable.

[0007] In one embodiment, the actuator unit includes a hydraulic leveling mechanism, a chainsaw cutting mechanism, and a jetting mechanism, wherein the hydraulic leveling mechanism includes a first hydraulic cylinder group and a second hydraulic cylinder group, which are respectively connected to the trenching plow chassis and the tracked walking device.

[0008] In one embodiment, the redundant communication network includes a main communication fiber and a backup radio communication module. When the main communication fiber is interrupted, the backup radio communication module is automatically activated and maintains bidirectional data exchange between the remote control system and the deep-sea trenching plow body.

[0009] In one embodiment, an image enhancement processor is provided between the high-definition video acquisition device and the remote control system. The processor performs noise reduction and color correction on the underwater video data and transmits the processed video stream to the host computer display interface in real time.

[0010] In one embodiment, the first hydraulic cylinder group is configured to buffer the impact force of the trenching plow traveling, and the second hydraulic cylinder group is connected to a liftable skid device. When the inclination sensor detects that the tilt angle exceeds the safety threshold, the controller prioritizes driving the second hydraulic cylinder group to perform a leveling action.

[0011] In one embodiment, the manual operation mode is implemented through the joystick interface of the remote control system, and the control signal generated by the joystick is directly transmitted to the solenoid valve control unit of the hydraulic leveling mechanism via a redundant communication network.

[0012] In one embodiment, an anomaly detection module is provided between the inclination sensor and the controller. When the inclination data exceeds the preset range for more than 5 seconds and the monitor unit shows that the ditching plow chassis sinks on one side, the system automatically triggers an alarm and freezes the automatic control command.

[0013] This invention also provides an embodiment including a control method for an automated deep-sea trenching plow system. Based on the automated deep-sea trenching plow system, the method includes: collecting trenching plow status and underwater environment data through sensors and monitors of the trenching plow; transmitting the collected data to a controller of a remote control system using redundant optical fiber communication; the controller performing logical operations on the received data to generate control commands; transmitting the control commands to the execution controller of the trenching plow through the redundant optical fiber communication; the execution controller controlling the actuator to operate according to the control commands; simultaneously, the monitoring system of the remote control system receiving and displaying the video feed from the monitor; when the controller or operator determines through the host computer that the data shows a suspected anomaly, correcting the working state of the actuator through the execution controller.

[0014] Beneficial effects

[0015] This invention's automated deep-sea trenching plow system achieves automatic control of the actuators through feedback from various sensors and monitors, changing the traditional reliance on simple manual control and significantly improving the level of operational intelligence. The system employs a redundant fiber optic communication network, which significantly improves network security compared to traditional communication methods, reducing the risks caused by communication failures in deep-sea operations. The collaborative design between the remote control system and the trenching plow allows operators to acquire sensor and monitor signals in real time via a host computer. When suspected abnormal signals are detected, operators can directly intervene to control the actuators. This human-machine collaborative control mechanism ensures the efficiency of automated operations while providing the possibility of manual correction in case of emergencies, reducing the probability of dangerous situations such as tilting or overturning of the trenching plow. Simultaneously, the video acquisition and monitoring system allows operators to visually observe the trenching plow and the underwater environment, aiding in judgment and decision-making, further improving the reliability and stability of operations. The system's automated control and safety design can adapt to different seabed sediment environments, reducing the need for manual intervention, improving the efficiency and adaptability of trenching operations, and providing more reliable technical support for deep-sea engineering construction. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0017] Figure 1 A schematic diagram of an automated system module for trenching and plowing in the sea, provided in an embodiment of the present invention;

[0018] Figure 2 The working steps of the automated method for trenching and plowing in the sea provided in this embodiment of the invention are shown in the diagram. Detailed Implementation

[0019] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0020] It should be noted that if the embodiments of the present invention involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative positional relationship and movement of the components in a specific posture. If the specific posture changes, the directional indications will also change accordingly.

[0021] Furthermore, if the embodiments of this invention involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the use of "and / or" or "and / or" throughout the text includes three parallel solutions. For example, "A and / or B" includes solution A, solution B, or a solution where both A and B are satisfied simultaneously. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this invention.

[0022] Traditional deep-sea trenching plows rely on sonar image feedback for simple operator control of the actuators, which has significant shortcomings in terms of safety, reliability, and stability. Many existing underwater trenching machines are only suitable for port environments and do not consider the needs of deep-sea operations. The traditional deep-sea trenching plow structure described in CN208136988U, "An Undersea Trenching Machine," lacks fully automated functionality. Furthermore, while the deep-sea trenching machine disclosed in CN118065455A achieves partial automation through an intelligent control system, this solution primarily focuses on improving the trenching machine itself. Its intelligent control system relies on its own judgment and control, lacking a remote control system for real-time monitoring and direct control of the trenching machine, and also failing to include a video acquisition device and corresponding monitoring system. Currently, there are technological gaps in the field of deep-sea trenching regarding automated control and communication security, necessitating an automated trenching plow system suitable for the deep-sea environment.

[0023] refer to Figure 1 This embodiment provides an automated deep-sea trenching plow system, including a deep-sea trenching plow body, a sensor unit, a monitor unit, and an actuator unit mounted on the trenching plow body, as well as a remote control system located on the water and a redundant communication network; the output terminal of the sensor unit is signal-connected to the input terminal of the remote control system, and the output terminal of the remote control system is electrically connected to the control terminal of the actuator unit through the redundant communication network; the remote control system includes an integrated controller configured to generate automatic control commands based on real-time data from the sensor unit and the monitor unit, and switch to manual operation mode when an abnormal signal is detected.

[0024] This embodiment constructs an integrated automated control system that combines surface remote control and underwater operations, enabling intelligent trenching operations in deep-sea environments through redundant communication links and a multi-dimensional sensor network. The system consists of a remote control system located on the surface and a trenching plow located underwater. The two systems establish a data interaction channel through a redundant fiber optic communication network, which includes at least two independent fiber optic links to ensure the continuity and stability of communication in the complex deep-sea environment.

[0025] The remote control system, serving as the central management unit of the entire automation system, integrates three core components: a host computer, a controller, and a monitoring system. The host computer utilizes an industrial-grade high-performance server, equipped with a large-capacity data storage module and a high-speed data processing chip. Its hardware architecture is designed to meet the reliability requirements for 24-hour continuous operation. The host computer establishes a bidirectional communication connection with the controller via a dedicated data interface. On one hand, it receives underwater sensor data, actuator status parameters, and monitoring images transmitted from the video acquisition unit in real time from the controller. On the other hand, it transmits control commands from the operator or automatically generated control strategies to the controller. The host computer's software system is developed based on a real-time operating system and features a visual human-machine interface. This interface employs a layered data display structure, visually presenting various received data in multiple formats such as charts, curves, and split-screen video, facilitating real-time monitoring of the underwater trenching plow's operational status by the operator.

[0026] The controller, as the logic processing core of the remote control system, adopts a dual-redundant CPU architecture and integrates a programmable logic controller (PLC) module and a high-speed data processing unit. Its hardware design adheres to the high reliability standards of deep-sea operation control equipment, possessing characteristics such as electromagnetic interference resistance and wide-temperature operation. The controller's input ports establish communication links with the data acquisition unit and video acquisition unit via a switch, receiving real-time sensor and video signals from underwater sources. The output ports connect to the execution controller and the host computer, enabling the issuance of control commands and feedback of processing results. The controller's software system includes a signal preprocessing module, a logic operation module, and a control strategy generation module. The signal preprocessing module filters, reduces noise, and normalizes the received sensor signals. The logic operation module analyzes and judges the processed signals based on a preset control algorithm. The control strategy generation module generates corresponding execution commands based on the calculation results. For example, when the controller receives a tilt sensor signal from the data acquisition unit exceeding a preset threshold, the logic operation module immediately activates the tilt warning algorithm, and the control strategy generation module then generates a leveling control command, which is sent to the execution controller via redundant fiber optic communication.

[0027] The monitoring system consists of multi-screen display terminals, a video matrix switcher, and a video storage server. Its hardware configuration meets the requirements for real-time display and storage of high-definition video. The video acquisition unit connects to the video matrix switcher of the monitoring system via a dedicated underwater video transmission cable, synchronously transmitting video signals from multiple monitors distributed at different locations on the trenching plow to the monitoring system. The monitoring system's software interface supports functions such as split-screen display, zooming in and out, and historical video retrieval. Operators can use this system to observe the trenching plow's operating posture, the actuator's movement status, and the surrounding seabed environment in real time, providing intuitive visual evidence for manual intervention and control.

[0028] The underwater trenching plow, serving as the specific operational unit, is designed to balance adaptability to the high-pressure environment of the deep sea with operational functionality. It primarily consists of an execution controller, a data acquisition unit, a video acquisition unit, multiple actuators, multiple sensors, and multiple monitors. The execution controller is installed inside the main control compartment of the trenching plow and is encased in a waterproof and pressure-resistant shell. Its hardware architecture is similar to the controller, possessing independent data processing and command execution capabilities. The execution controller establishes a communication connection with the controller via an underwater connector, receiving control commands from the controller in real time and parsing these commands into specific actuator action signals. For example, when the execution controller receives a trenching depth adjustment command from the controller, it immediately sends an action signal to the corresponding hydraulic actuator, controlling the extension and retraction of the hydraulic cylinder to adjust the trenching cutter's penetration depth.

[0029] Data acquisition units are distributed across key components of the trenching plow, connecting to various sensors via dedicated signal cables. Their hardware employs a modular design, allowing for the expansion of different signal acquisition interfaces based on sensor type. The primary function of the data acquisition units is to acquire the output signals from each sensor in real time, perform analog-to-digital conversion and preliminary processing, and then transmit the signals to the controller via redundant fiber optic communication. The sensor network encompasses various types of monitoring elements, including tilt and depth sensors for monitoring the trenching plow's attitude, pressure and displacement sensors for monitoring the operating status of the actuators, and temperature and turbidity sensors for monitoring seabed environmental parameters. These sensors acquire data in real time at a preset sampling frequency, providing accurate environmental and status information for the system's automated control. For example, the tilt sensor, installed at the center of the trenching plow's chassis, utilizes high-precision MEMS technology to monitor the tilt angle of the trenching plow in both roll and pitch directions in real time. When the angle change exceeds the system's set safety threshold, the data acquisition unit immediately transmits an abnormal signal to the controller.

[0030] The video acquisition unit is installed at the front and sides of the trenching plow, equipped with multiple high-definition cameras. Its lenses are treated with an anti-fouling and anti-scratch coating to ensure clear imaging in murky seabed environments. The video acquisition unit converts the analog video signals captured by the cameras into digital signals via a video encoding module, and then transmits them to the monitoring system through redundant fiber optic communication. Monitors are distributed at key operating points of the trenching plow, including in front of the trenching cutter and the area where the actuators operate. They can monitor the trenching process, the actions of the actuators, and the distribution of seabed obstacles in real time, providing visual feedback for the system's automated control and manual intervention.

[0031] The system's workflow follows a closed-loop control logic of "data acquisition - analysis and processing - command execution - status feedback." Under normal operating conditions, each sensor collects real-time status parameters of the trenching plow and seabed environmental data. The data acquisition unit aggregates these signals and transmits them to the controller. The controller analyzes and processes the data, generates execution commands based on a preset control strategy, and sends them to the execution controller via redundant fiber optic communication. After parsing the commands, the execution controller controls the corresponding actuators to perform operations such as trenching depth adjustment and attitude adjustment. Simultaneously, the video acquisition unit transmits real-time images captured by the monitor to the monitoring system. The host computer stores and displays all data, forming a complete operational data chain.

[0032] When the system detects an anomaly, such as the tilt angle transmitted by the inclination sensor exceeding the safety threshold, or the pressure sensor detecting an abnormal load on the actuator, the controller will immediately activate the anomaly handling mechanism. First, the controller will mark the anomaly signal and transmit it to the host computer. The host computer will issue an audible and visual alarm on the human-machine interface and simultaneously highlight the abnormal data. Operators can use the video feed from the monitoring system to assist in confirming the anomaly. For example, if it is determined that the trenching plow has tilted due to changes in the seabed sediment, a leveling control command can be directly sent from the host computer to the controller. The controller will forward the command to the execution controller, which will control the corresponding leveling hydraulic cylinder to adjust the trenching plow's posture. At the same time, the system will automatically record the time, type, and handling process of the anomaly, providing data support for subsequent fault analysis and system optimization.

[0033] In non-bottom-touching operation mode, the system uses depth sensors and sonar to monitor the distance between the bottom of the trenching plow and the seabed in real time. The controller adjusts the actuator's motion parameters based on the monitoring data to maintain the trenching plow at a suitable working height. When switching to bottom-touching operation mode is required, the operator can send a mode-switching command via a host computer. Upon receiving the command, the controller reconfigures the control strategy and adjusts the actuator's motion logic to bring the trenching cutter into contact with the seabed for trenching operations. During the switching between different operation modes, the system automatically performs parameter verification and status confirmation to ensure the smoothness and safety of the mode transition.

[0034] The system possesses adaptive adjustment capabilities to adapt to different seabed environments. For example, when operating on a hard seabed, the controller automatically increases the feed pressure of the trenching cutter based on feedback data from pressure and displacement sensors, while simultaneously activating the chainsaw actuator to employ a combination of mechanical cutting and hydraulic impact for soil breaking. When operating on a soft seabed, the system reduces the cutter feed pressure and activates the jet-jet soil breaking actuator, using high-pressure water jet impact for trenching, thereby improving operational efficiency and reducing equipment wear. This adaptive adjustment mechanism is trained based on a large amount of seabed operational data and stored in the controller's database, automatically matching the optimal operational parameters based on real-time sensor data.

[0035] The system's redundancy design is integrated throughout the entire architecture. In addition to the redundant fiber optic communication network, both the controller and the actuator controller adopt a dual-machine hot standby architecture. When the main controller fails, the standby controller can automatically take over the control tasks to ensure continuous system operation. The power system adopts a dual power supply mode with main and standby power supplies and is equipped with an uninterruptible power supply (UPS) to prevent system shutdown due to power supply abnormalities. The sensor network adopts a multi-sensor cross-validation mechanism. When the output data of a certain sensor deviates from the data of other sensors by more than a preset range, the system will automatically mark the sensor data and activate the redundant sensor to ensure the accuracy of data acquisition.

[0036] During the system installation and commissioning phase, the remote control system components were first installed and connected. The host computer, controller, monitoring system, and other equipment were installed in the waterborne control cabin, and an internal communication network was established via a switch. Next, the trenching plow components were installed. The execution controller, data acquisition unit, and video acquisition unit were installed in the trenching plow's main control cabin. Sensors and monitors were installed on the trenching plow's body according to the design, and connected to the data acquisition unit and video acquisition unit via signal cables. Finally, a redundant fiber optic communication network was laid, connecting the waterborne control cabin and the trenching plow via two independent fiber optic cables. Communication link testing was conducted to ensure the stability and reliability of data transmission.

[0037] System debugging comprises two parts: hardware debugging and software debugging. Hardware debugging primarily checks the power supply of each device, the stability of signal interface connections, and the calibration accuracy of sensors. Software debugging tests the functional integrity of each software module, including data acquisition, logic operation, and control strategy modules. By simulating different operational scenarios, it verifies the system's automated control capabilities and anomaly handling capabilities. After debugging, the system enters the trial operation phase, conducting operational tests in a real deep-sea environment to collect operational data and optimize control strategies, ensuring stable and reliable operation of the system under various working conditions.

[0038] refer to Figure 2The present invention also provides an embodiment, including a control method for an automated deep-sea trenching plow system. Based on the automated deep-sea trenching plow system, the method includes:

[0039] S110. Collect data on the status of the trenching plow and the underwater environment through the sensors and monitors of the trenching plow, and transmit the collected data to the controller of the remote control system using redundant optical fiber communication.

[0040] S120. The controller performs logical operations on the received data to generate control commands, and transmits the control commands to the execution controller of the trenching plow through the redundant optical fiber communication.

[0041] S130. The execution controller controls the action of the execution mechanism according to the control command, and at the same time, the monitoring system of the remote control system receives and displays the video screen of the monitor.

[0042] S140. When the controller or operator determines through the host computer that the data is suspected to be abnormal, the working state of the actuator is corrected through the execution controller.

[0043] Redundant fiber optic communication between the remote control system and the trenching plow requires at least two independent fiber optic links. During normal operation, the two links transmit data synchronously and verify each other. When the primary link experiences signal attenuation or interruption, the communication management module automatically switches to the backup link to ensure continuous data transmission. After receiving the data, the controller analyzes the slope data, pressure data, etc., through the logic operation module in the dual-redundant CPU architecture. For example, when the slope sensor transmission angle exceeds the system's preset calculation threshold, a tilt warning algorithm is activated. Combined with depth sensor and sonar data, it determines whether the imbalance is caused by changes in the seabed sediment. Subsequently, the control strategy generation module generates control commands that include the extension and retraction of the leveling hydraulic cylinder and the timing of its actions.

[0044] After receiving the control command, the execution controller first verifies the command to confirm the data integrity and validity. Then, it parses the command into action signals for the hydraulic actuator, chainsaw actuator, or jet-driven soil-breaking actuator. For example, when controlling the leveling hydraulic cylinder, the proportional valve precisely adjusts the hydraulic oil flow to control the piston rod extension and retraction speed. Simultaneously, the displacement sensor provides real-time feedback on the hydraulic cylinder stroke, forming a closed-loop control to ensure leveling accuracy. The video acquisition unit encodes and compresses the images from monitors distributed in front of the trenching cutter and in the actuator's activity area, transmitting them to the monitoring system via redundant fiber optic communication. The monitoring system's video matrix switcher switches the display screen according to the operator's settings, and the multi-screen display terminal simultaneously presents the operation video from different angles in a split-screen format.

[0045] When the system detects an anomaly, the controller immediately timestamps the abnormal data and transmits it to the host computer. The host computer's human-machine interface triggers an audible and visual alarm mechanism, and simultaneously highlights the abnormal parameter curve in red on the data visualization interface. Operators observe the trenching plow's posture and the seabed environment through the monitoring system's video feed. If it is confirmed that the abnormal tool load is caused by hard seabed material, a manual intervention command is sent through the host computer. This command takes precedence over the automatic control strategy and is transmitted to the controller, which then activates the chainsaw actuator to assist in soil breaking. During the anomaly handling process, the system automatically records the anomaly type, occurrence time, raw sensor data, and processing command sequence, storing them in the host computer's historical database.

[0046] In non-bottom-touching operation mode, depth sensors and sonar continuously monitor the distance between the bottom of the machine and the seabed. The controller adjusts the actuator parameters based on the distance data to keep the trenching plow at a safe operating height of 5-10 meters above the seabed. When switching to bottom-touching mode is required, the operator sends a mode switching command through the host computer. The controller first verifies whether the current trenching plow posture is stable, then gradually lowers the actuator height. At the same time, the pressure sensor monitors the cutting tool's resistance to soil penetration in real time. When the resistance reaches a preset threshold, bottom contact is confirmed and trenching operation is initiated. For different seabed materials, the controller analyzes the feedback data from the pressure and displacement sensors. If the seabed is determined to be hard, the cutting tool feed pressure is increased to the upper limit of the set range, and the chainsaw actuator is activated according to a preset timing sequence. If the seabed is soft, the feed pressure is reduced to the lower limit of the range, and the jet-breaking actuator is activated, with the high-pressure water pump outputting water at the set pressure value.

[0047] The system's redundancy design is reflected in the control method as a dual-machine hot standby mechanism for the controller and the execution controller. The main controller periodically synchronizes control parameters and operation status with the standby controller. When the standby controller detects the disappearance of the main controller's heartbeat signal, it takes over the control task within 50ms. The power system's main and standby power supplies monitor the power supply status in real time through a switching circuit. When the main power supply voltage fluctuation exceeds ±10%, it automatically switches to the standby power supply and starts the UPS. The sensor network adopts a three-out-of-two voting mechanism. When the data deviation of two of the three sensors at the same monitoring point exceeds the preset range, the abnormal sensor is automatically shielded and the redundant sensor is activated.

[0048] During the installation and commissioning phase, the host computer, controller, monitoring system, and other equipment were first installed in the surface control cabin. An internal communication network was established through an industrial-grade switch, and the IP addresses of each device were set and the local area network communication speed was tested. In the trenching plow's main control cabin, the execution controller, data acquisition unit, and video acquisition unit were installed. Each sensor and monitor was connected to its corresponding interface via waterproof connectors, and insulation resistance tests were conducted to ensure underwater sealing. During software debugging, simulated deep-sea environment data was generated from sensors to test the sampling frequency and accuracy of the data acquisition module. Abnormal data was injected to verify the fault diagnosis capability of the logic operation module. The accuracy of the commands generated by the control strategy module was tested under different operating conditions. Finally, trial operation was conducted in actual sea areas, recording system response data under different depths and seabed conditions, and optimizing the control parameter table to improve automated control performance. In the data storage and analysis phase, the host computer stored sensor data, control commands, video streams, and other information in a distributed database according to time series. Historical data was analyzed using data mining algorithms to establish a correlation model between the seabed sediment and operational parameters, providing pre-recommended parameters for subsequent operations. Simultaneously, equipment operation status reports were generated to warn of potential fault risks.

[0049] In summary, the deep-sea trenching plow automation system of the present invention, through the collaborative design of the surface remote control system and the underwater trenching plow, combined with redundant communication networks and multi-dimensional sensor monitoring, realizes automated control and real-time monitoring of trenching operations in the deep-sea environment. It has the characteristics of high intelligence, high reliability, and high safety, and can be widely used in engineering fields such as deep-sea pipeline laying and submarine cable construction.

[0050] The above description is merely a preferred embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural transformations made using the contents of the present invention's specification and drawings under the inventive concept of the present invention, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present invention.

Claims

1. An automated system for a deep-sea trenching plow, comprising a deep-sea trenching plow body, a sensor unit, a monitor unit, and an actuator unit mounted on the trenching plow body, characterized in that: It also includes a remote control system located on the water and a redundant communication network; the output of the sensor unit is connected to the input of the remote control system, and the output of the remote control system is electrically connected to the control end of the actuator unit through the redundant communication network; the remote control system includes an integrated controller configured to generate automatic control commands based on real-time data from the sensor unit and the monitor unit, and switch to manual operation mode when an abnormal signal is detected; the sensor unit includes a sonar sensor, a depth sensor, and an inclination sensor, wherein the sonar sensor is located at the bottom of the trenching plow body, the depth sensors are distributed at the four corners of the trenching plow body, and the inclination sensor is embedded inside the trenching plow chassis; an abnormal judgment module is provided between the inclination sensor and the controller, and when the inclination data continuously exceeds the preset range value for more than 5 seconds, and the monitor unit shows that the trenching plow chassis sinks on one side, the system automatically triggers an alarm and freezes the automatic control commands; The actuator unit includes a hydraulic leveling mechanism, a chainsaw cutting mechanism, and a jetting mechanism. The hydraulic leveling mechanism includes a first hydraulic cylinder group and a second hydraulic cylinder group, which are respectively connected to the trenching plow chassis and the tracked walking device. The first hydraulic cylinder group is configured to buffer the impact force of the trenching plow traveling. The second hydraulic cylinder group is connected to a liftable skid device. When the inclination sensor detects that the tilt angle exceeds the safety threshold, the controller will prioritize driving the second hydraulic cylinder group to perform the leveling action. The redundant communication network includes a main communication fiber and a backup radio communication module. When the main communication fiber is interrupted, the backup radio communication module is automatically activated and maintains bidirectional data exchange between the remote control system and the deep-sea trenching plow body.

2. The automated deep-sea trenching plow system according to claim 1, characterized in that: The monitor unit includes at least two sets of high-definition video acquisition units, which are installed in waterproof compartments on both sides of the trenching plow body to collect real-time video data on the soil breaking status of the chainsaw mechanism and the location of the submarine cable.

3. The automated deep-sea trenching plow system according to claim 2, characterized in that: An image enhancement processor is installed between the high-definition video acquisition device and the remote control system. This processor performs noise reduction and color correction on the underwater video data and transmits the processed video stream to the host computer display interface in real time.

4. The automated deep-sea trenching plow system according to claim 1, characterized in that: The manual operation mode is achieved through the joystick interface of the remote control system. The control signals generated by the joystick are directly transmitted to the solenoid valve control unit of the hydraulic leveling mechanism via a redundant communication network.

5. A control method for an automated deep-sea trenching plow system, based on the automated deep-sea trenching plow system according to any one of claims 1-4, characterized in that, The method includes: The ditching plow's status and underwater environment data are collected by its sensors and monitors, and the collected data are transmitted to the controller of the remote control system using redundant optical fiber communication. The controller performs logical operations on the received data to generate control commands, and transmits the control commands to the execution controller of the trenching plow through the redundant optical fiber communication. The execution controller controls the action of the execution mechanism according to the control command, while the monitoring system of the remote control system receives and displays the video screen of the monitor; When the controller or operator determines through the host computer that the data is suspected to be abnormal, the working state of the actuator is corrected through the execution controller.

Images