A robot for laying a submarine cable

Abstract

The application discloses a kind of robots for submarine cable laying, it is related to submarine cable laying technical field, including two tracks;The application is cooperated by slurry pump, branch pipe and pumping silt mouth, it is convenient to pump out silt produced by ditching, improve the efficiency of silt cleaning, and then can realize the function of quick dredging and on-demand ditching;When rotating disc is rotated from inside to outside by driving equipment, large particle impurities are actively pushed outwards, and after the impurities are discharged from the anti-blocking pipe, they are naturally carried away by seawater, preventing them from accumulating in the pumping silt mouth or branch pipe and causing blockage. The application solves the problem of traditional pumping silt mouth being easily blocked by impurities from two dimensions of "active anti-blocking + efficient silt cleaning". The correction unit quantitatively analyzes three positioning interference factors of "transmission delay deviation, ocean current deviation and sound speed deviation", providing high-precision data benchmark for subsequent image analysis and offset correction. The application changes the traditional mode of "blindly collecting images in the whole range" and realizes "focused image analysis".

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of submarine cable laying tools, and particularly relates to a robot for submarine cable laying. BACKGROUND

[0002] In the submarine cable laying project, the traditional laying method faces many challenges; the previous device has poor adaptability to different geological conditions during ditching, and when a relatively hard seabed is encountered, the traditional ditching equipment is difficult to efficiently break through the soil, resulting in low ditching efficiency, which further affects the progress of the entire submarine cable laying. Moreover, in the dredging link, due to the lack of effective dredging means, the silt is not cleaned in time, and the accumulated silt will hinder the subsequent submarine cable laying, and even may cause the submarine cable laying position to be inaccurate; at the same time, when the submarine cable is guided and positioned, the positioning clamp is not flexible enough to be adjusted accurately according to the actual submarine cable laying demand, and in the pipe arrangement process, the pipe is prone to displacement, which not only increases the risk of submarine cable damage, but also affects the laying quality of the submarine cable, resulting in problems such as unstable signal transmission in the subsequent use process.

[0003] Therefore, the above problems need to be improved. SUMMARY

[0004] The present application relates to the technical field of submarine cable laying tools, and particularly relates to a robot for submarine cable laying.

[0005] In order to achieve the above-mentioned purpose, the technical scheme adopted by the present application is as follows: a robot for submarine cable laying, comprising two tracks, two tracks are installed on the upper end of the installation plate, two installation plates are installed on the rear end of the ditching mechanism, the upper end of the installation plate is installed on the sealing box through the support rod and the fixing frame, the rear end of the sealing box is installed on the dredging mechanism, the dredging mechanism is located on both sides of the ditching mechanism, and two connecting rods are fixedly connected between the two sealing boxes, and the lower end of the connecting rod is installed on the guide mechanism.

[0006] The correction unit analyzes the transmission delay deviation, the ocean current deviation and the sound speed deviation, and calculates the total position deviation; according to the total position deviation, the image data in the corresponding range is acquired, the acquired image data is analyzed, whether the shift occurs at the corresponding position of the submarine cable image block is determined, if the shift occurs, the robot is controlled to retreat according to the offset angle / image block quantity to adjust the displacement in the corresponding direction, so that the laid submarine cable returns to the original position.

[0007] Preferably, the analysis step of the position deviation influence of the correction unit is as follows:

[0008] S1: if the signal propagation speed is , the distance from the sensor to the controller is , the transmission time Therefore, the positional deviation caused by transmission delay can be derived. , The robot's moving speed; when the ocean current's velocity direction is inconsistent with the equipment's movement direction, it will cause a deviation in the actual displacement, which will occur during the control cycle. Internal positional deviation , For ocean current velocity, The angle between the ocean current direction and the laying direction; when the CTD sensor measures the sound velocity, the actual distance... Measured values The effects of sound speed error are as follows: , To calculate the sound speed used, the positional deviation caused by changes in sound speed is derived from this. , This represents the actual speed of sound.

[0009] S2: Total positional deviation after being affected The camera uses the location where the submarine cable is laid as a base point to monitor... Image data within the specified range is acquired.

[0010] Preferably, the steps for the correction unit to analyze the impact of position deviation are as follows:

[0011] K1: Determine if there is a submarine cable image block adjacent to another submarine cable image block. Then, determine if the two submarine cable image blocks are consecutive. Count the number of consecutive submarine cable image blocks in the same row and calculate the total length of consecutive submarine cable image blocks in the same row. The calculation, if Then select the total length The image blocks of the submarine cable at both ends are connected to the image blocks of the submarine cable at the corresponding ends, extending from the initial position of the submarine cable laying. This refers to the diameter data of the submarine cable;

[0012] K2: Detect the angle between the extended connection line and the vertical line of the submarine cable image block at the corresponding end of the initial position. If the angle is greater than the preset angle threshold, it is determined that the position of the submarine cable has shifted. The correction unit calculates the offset data based on the angle data and controls the robot to back up and adjust the displacement in the corresponding direction based on the offset data, so that the laid submarine cable returns to the original position.

[0013] K3: If Then, the image data of the already laid locations is analyzed to obtain the required data. The location of consecutive submarine cable image blocks is obtained, and a line is extended from the initial location to the new location. If the submarine cable image patch at the location is within the two extended connecting lines, then continue laying; if If the sea cable image block at the position is not within the two extension lines, then the sea cable laying is adjusted in the corresponding direction according to the number of sea cable image blocks outside the extension lines, so as to return to the original position.

[0014] Preferably, the auxiliary plate is hinged at the front end of each of the two mounting plates, a rectangular pressing frame is fixed below the front end of the auxiliary plate, a first electric push rod is hinged at one side of the auxiliary plate, and the other end of the first electric push rod is hinged to the bottom surface of the front end of the sealing box.

[0015] Preferably, the ditching mechanism comprises two water pumps installed in the sealing box, a funnel-shaped water inlet is connected to one end of the water pump, a shunt plate is connected to the output end of the water pump through a hose, a plurality of high-pressure water pipes are installed on the inner side of the shunt plate, the output ends of the plurality of high-pressure water pipes are inclined inward, a second electric push rod is hinged at one side of the shunt plate, and the other end of the second electric push rod is hinged to the bottom surface of the rear end of the sealing box.

[0016] Preferably, the dredging mechanism comprises a slurry pump installed in the sealing box, a branch pipe is connected to one end of the slurry pump through a hose, dredging openings are connected to both ends of the branch pipe, a connecting plate is fixed to the upper end of the two dredging openings, a third electric push rod is hinged to the top surface of the connecting plate, the other end of the third electric push rod is hinged to the rear end link, two sludge discharge pipes are connected to the output end of the slurry pump, the output ends of the two sludge discharge pipes are inclined inward, and the output ends of the sludge discharge pipes are located behind the high-pressure water pipes.

[0017] Preferably, the guiding mechanism comprises two motors installed in the sealing box, a lead screw is connected to the output end of the motor through a shaft coupling, a moving plate is threadedly connected to the lead screw, a sliding groove is formed in the bottom surface of the sealing box to cooperate with the movement of the moving plate, rubber folding pieces are installed between the two sides of the moving plate and the adjacent surfaces of the sliding groove, and a positioning clamp is fixed to the bottom end of the moving plate.

[0018] Preferably, a fourth electric push rod is hinged to the inner side of each of the two mounting plates, an extension plate is installed at the output end of the fourth electric push rod, the extension directions of the two extension plates are opposite, and a clamp is installed at the other end of each of the two extension plates.

[0019] Compared with the prior art, the present application has the following advantages:

[0020] 1. By coordinating the water pump, inlet, and diversion plate, high-pressure water is easily sprayed onto the seabed, improving the effect of flushing away seabed mud and thus enabling preliminary trenching. Furthermore, by coordinating the slurry pump, branch pipe, and silt extraction port, the silt generated during trenching is easily extracted, improving silt removal efficiency and enabling rapid silt removal and on-demand trenching. Finally, by coordinating the motor, lead screw, and moving plate, the position of the positioning clamp is easily adjusted, improving the accuracy of the positioning clamp's adjustment and enabling flexible movement of the positioning clamp and precise guidance of the submarine cable. Ultimately, this solves the problems of low trenching and pipe burial efficiency and pipe displacement during cable laying in existing devices.

[0021] 2. When the rotating disk is driven by the drive device to rotate from the inside of the anti-clogging pipe to the outside, large particles of impurities are actively pushed outward. After the impurities are discharged from the anti-clogging pipe, they are naturally carried away by the seawater, preventing them from accumulating in the sludge extraction port or branch pipe and causing blockage. This solves the problem of traditional sludge extraction ports being easily blocked by impurities from the dual dimensions of "active anti-clogging + efficient sludge removal". The correction unit performs quantitative analysis on the three major positioning interference factors of "transmission delay deviation, ocean current deviation, and sound speed deviation", providing a high-precision data benchmark for subsequent image analysis and offset correction. It changes the traditional mode of "blindly collecting images across the entire range" and realizes "focused image analysis", which narrows the image acquisition range, improves analysis efficiency, reduces computational load, and is suitable for underwater real-time analysis. Through the logic of "submarine cable image block recognition - continuous length comparison - extended connection angle detection", it realizes accurate determination of submarine cable offset, solving the defect of "the traditional method of "relying solely on sensor data cannot intuitively verify offset"; based on the offset determination result (offset angle or number of image blocks outside the connection), it controls the robot to retreat and adjust the displacement, realizing "precise correction - zero-error regression". Attached Figure Description

[0022] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this application, illustrate exemplary embodiments of the invention and, together with their description, serve to explain the invention and do not constitute an undue limitation thereof. In the drawings:

[0023] Figure 1 This is a schematic diagram of the overall appearance of the device proposed in this invention;

[0024] Figure 2 This is a rear view schematic diagram of the overall appearance of the device proposed in this invention;

[0025] Figure 3 This is a schematic diagram of the internal structure of the device proposed in this invention;

[0026] Figure 4 This is a schematic diagram of the trenching mechanism proposed in this invention;

[0027] Figure 5 This is a schematic diagram of the high-pressure water pipe structure proposed in this invention;

[0028] Figure 6 Structure diagram of the dredging mechanism proposed by the present application;

[0029] Figure 7 Structure diagram of the guiding mechanism proposed by the present application;

[0030] Figure 8 Structure diagram of the clamp proposed by the present application;

[0031] Figure 9 Structure diagram of the anti-blocking structure proposed by the present application;

[0032] Figure 10 System flow chart of the present application.

[0033] In the figure, the serial numbers are as follows: 1, track; 2, mounting plate; 3, sealing box; 4, auxiliary plate; 5, pressing frame; 6, first electric push rod; 7, slurry pump; 8, water pump; 9, water inlet; 10, shunt plate; 11, high-pressure water pipe; 12, second electric push rod; 13, branch pipe; 14, dredging opening; 15, third electric push rod; 16, dredging pipe; 17, motor; 18, screw rod; 19, moving plate; 20, rubber folding piece; 21, positioning clamp; 22, fourth electric push rod; 23, extension plate; 24, clamp; 25, anti-blocking pipe; 26, rotating groove; 27, rotating disc; 28, inner tooth. DETAILED DESCRIPTION

[0034] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application.

[0035] Embodiment 1: see Figures 1 to 8The utility model discloses a kind of submarine cable laying robots in the utility model, including two caterpillar belts 1, caterpillar belt 1 is convenient for device to walk along straight line in seabed;Two caterpillar belts 1 upper end are equipped with mounting plate 2, and mounting plate 2 is convenient for installing ditching mechanism by;Two mounting plates 2 rear end are equipped with ditching mechanism, and mounting plate 2 upper end is equipped with sealed box 3 by support rod and fixed frame, and it is convenient for installing electrical instrument by sealed box 3, while avoiding seawater erosion electrical instrument;Sealed box 3 rear end is equipped with dredging mechanism, and dredging mechanism is located ditching mechanism both sides, and two sealed boxes 3 are fixedly connected with two connecting rods between two, and connecting rod lower end is equipped with guide mechanism, and two mounting plates 2 front end are hingedly connected with auxiliary plate 4, and it is convenient for cooperation first electric push rod 6 by auxiliary plate 4 to retract and release pressure frame 5;Auxiliary plate 4 front end below is fixedly connected with rectangular pressure frame 5, and it is avoided by pressure frame 5 that submarine cable displacement is caused by water wave;And auxiliary plate 4 one side is hingedly connected with first electric push rod 6, and first electric push rod 6 other end is hingedly connected in sealed box 3 front end bottom surface, and ditching mechanism includes two water pumps 8 installed in sealed box 3, and it is convenient for by water pump 8 to suck seawater into flow divider 10;Water pump 8 one end is connected with funnel-shaped water inlet 9, and water pump 8 output end is connected with flow divider 10 by hose, and it is convenient for installing high-pressure water pipe 11 by flow divider 10;Flow divider 10 inner side is equipped with multiple high-pressure water pipes 11, and it is convenient for by high-pressure water pipe 11 to wash away silt and form gully;Multiple high-pressure water pipes 11 output end are all inclined to inner side, and flow divider 10 one side is hingedly connected with second electric push rod 12, and it is convenient for by second electric push rod 12 to control retract and release of ditching mechanism;Second electric push rod 12 other end is hingedly connected with sealed box 3 rear end bottom surface, and dredging mechanism includes slurry pump 7 installed in sealed box 3 inside, and it is convenient for by slurry pump 7 to suck silt and form laying track to lay submarine cable;Slurry pump 7 one end is connected with branch pipe 13 by hose, and it is convenient for by branch pipe 13 to connect dredging mouth 14;Branch pipe 13 both ends are connected with dredging mouth 14, and it is convenient for by dredging mouth 14 to suck silt and discharge;Two dredging mouths 14 upper end are fixedly connected with connecting plate, and connecting plate top surface is hingedly connected with third electric push rod 15, and it is convenient for by third electric push rod 15 to control retract and release of connecting plate;Third electric push rod 15 other end is hingedly connected with rear end connecting rod, and slurry pump 7 output end is connected with two silt discharge pipes 16, and it is convenient for by silt discharge pipe 16 to lay silt on submarine cable and bury laying track;Two silt discharge pipes 16 output end are inclined to inner side, and silt discharge pipe 16 output end is located high-pressure water pipe 11 rear end.

[0036] In the application, the guide mechanism comprises two motors 17 installed inside the sealed box 3, the motors 17 are used to drive the rotation of the lead screws 18; the output ends of the motors 17 are connected with the lead screws 18 through couplings, the lead screws 18 are used to drive the movement of the moving plates 19 and the positioning clamps 21; the moving plates 19 are threadedly connected with the lead screws 18, and the bottom surface of the sealed box 3 is provided with a sliding groove matched with the movement of the moving plates 19, rubber folding sheets 20 are installed between the two sides of the moving plates 19 and the surfaces close to the sliding groove, the rubber folding sheets 20 can prevent seawater from entering the sealed box 3 when the moving plates 19 move, and the bottom end of each moving plate 19 is fixedly connected with a positioning clamp 21, the inner sides of the two mounting plates 2 are hingedly connected with fourth electric push rods 22, the fourth electric push rods 22 and the extension plates 23 are used to drive the clamps 24 to clamp the submarine cables and convey them into the positioning clamps 21, the output ends of the fourth electric push rods 22 are provided with the extension plates 23, the extension directions of the two extension plates 23 are opposite, and the other ends of the two extension plates 23 are provided with the clamps 24.

[0037] Working principle: when the application is used, first, check the sealing condition of the power supply and the electrical equipment, then, transport the device to the position above the position where the submarine cable needs to be laid, and place the device above the submarine cable through accurate positioning, then, start the fourth electric push rod 22, the fourth electric push rod 22 drives the clamps 24 to clamp the submarine cable and convey it upwards under the cooperation of the extension plates 23, at the same time, the motors 17 drive the rotation of the lead screws 18, the moving plates 19 on the lead screws 18 move along the sliding grooves, the rubber folding sheets 20 can prevent seawater and sundries from entering the inside of the sealed box 3 and affecting the normal operation of the guide mechanism, after the two positioning clamps 21 are opened, the submarine cable is placed inside the positioning clamps 21, then, the positioning clamps 21 are reset, the submarine cable can avoid tilting during the laying through the positioning clamps 21; start the first electric push rod 6 to adjust the angle of the auxiliary plate 4, so that the rectangular pressing frame 5 is pressed on the submarine cable, which increases the stability of the robot during the work and avoids the displacement of the submarine cable caused by the fluctuation of water; then, start the water pump 8 of the ditching mechanism, seawater enters from the funnel-shaped water inlet 9, is pressurized by the water pump 8, is conveyed to the flow divider 10 through the hose, is high-pressure sprayed to the seabed by the multiple high-pressure water pipes 11, can more effectively wash away the soil of the seabed due to the inward inclination of the output ends of the high-pressure water pipes 11, and can convert the silt into slurry at the same time, the angle of the flow divider 10 can be adjusted through the second electric push rod 12 to adapt to different ditching requirements, then, start the slurry pump 7 of the silt pumping mechanism, the silt generated by ditching is sucked into through the silt pumping port 14, after the silt is sucked in, two narrow ditches form a laying track, the submarine cable falls into the track, at the same time, the silt is discharged through the branch pipe 13, the slurry pump 7 and the silt discharging pipe 16, the discharged silt will bury the submarine cable, after the laying is completed, the device can be pulled out from the seabed.

[0038] Embodiment 2: refer to Figure 9 and Figure 10 Different from embodiment 1, the silt pumping port 14 is provided with an anti-blocking structure;

[0039] The anti-blocking structure comprises an anti-blocking pipe 25 connected with the dredging opening 14, a rotating groove 26 is formed on one side of the anti-blocking pipe 25, a rotating disc 27 with the same shape and size as the rotating groove 26 is rotatably connected to the inner side of the rotating groove 26, one end of the rotating disc 27 is in a circular shape, and a plurality of internal teeth 28 are uniformly distributed on the inner side of the circular shape; a driving device is arranged at the position of the rotating disc 27 of the anti-blocking pipe 25, the driving device drives the rotating disc 27 to rotate from the inner side to the outer side of the anti-blocking pipe 25, so that the impurities entering the inside of the anti-blocking pipe 25 are pushed outward under the action of the rotating rotating disc 27, and are carried away by the water flow after reaching the outer side of the anti-blocking pipe 25, and will not flow back to the position of the anti-blocking pipe 25; the inner diameter of the circle at one end of the rotating disc 27 is the same as the inner diameter of the dredging opening 14, so that the impurities still existing in the silt combed by the rotating disc 27 will not cause the blockage of the dredging opening 14; the anti-blocking pipe 25 and the side rotating groove 26 are both capable of simultaneously performing the silt combing operation, the impurities in the combed silt which are easy to cause the blockage of the dredging opening 14 are reduced, and the dredging efficiency is improved.

[0040] The controller of the robot is internally provided with a control module, and a correction unit is arranged on the control module; the equipment movement speed is obtained by a Doppler log arranged on the outer side of the robot , the conductivity, temperature and pressure of different water depths are measured by a CTD sensor, and then the real sound speed of the current water layer is calculated in real time by using an empirical sound speed formula , the current speed and direction are obtained by an acoustic Doppler current profiler and ; image data of the submarine cable laying are obtained by a camera; and all the obtained data are transmitted to the correction unit;

[0041] The correction unit analyzes the transmission delay deviation, the current deviation and the sound speed deviation, and calculates the total position deviation; the image data in the corresponding range is obtained according to the total position deviation, the obtained image data is analyzed, and it is determined whether the shift occurs at the corresponding position of the submarine cable image block, if the shift occurs, the robot is controlled to retreat and adjust the displacement in the corresponding direction according to the shift angle / image block quantity, so that the laid submarine cable returns to the original position;

[0042] The correction unit sorts the collected data according to the collection time, and analyzes the data; the mean value and the standard deviation of the corresponding item of data collected at the same time are calculated, and the mean value and the standard deviation are used to calculate the fluctuation range of the corresponding item of collected data The acquisition data of the corresponding item is compared with the fluctuation range of the corresponding item, and the data of the corresponding item outside the fluctuation range is marked as an abnormal value, and the number of abnormal values is recorded , if , it is determined that the acquisition data is abnormal, and the detection of the data is re-performed; if , the abnormal value is removed, and the mean value of the detection data of the corresponding item after the abnormal value is removed is calculated, and the calculated mean value is used as the data of the corresponding item detected at the corresponding time;

[0043] If the signal propagation speed is , the distance from the sensor to the controller is , the transmission time ; the position deviation caused by the transmission delay is derived ; when the ocean current speed direction is inconsistent with the equipment movement direction, the actual displacement deviation will be caused, and the position deviation within the control period ; when the CTD sensor measures the sound speed, the measured value of the actual distance is affected by the sound speed error: , is the sound speed used for calculation, and the position deviation caused by the change of the sound speed is derived ; the total position deviation after being affected, the camera takes the position of the cable laying as the base point, and the image data within the range is acquired (the acquisition range of the image data is reduced, focused, and the useful image data acquired is clearer);

[0044] The acquired image data is subjected to gray scale processing, and the image data after gray scale processing is segmented according to the pixel block size, and the gray scale value of the segmented image block is acquired; the image data in the historical data is acquired, the image data is preprocessed, the fluctuation range of the cable image data is obtained, the gray scale value data of the image block is compared with the fluctuation range of the cable image data, if the gray scale value data of the image block is within the fluctuation range of the cable image data, it is determined that the corresponding image block is a cable image block; if the adjacent position of the cable image block is also a cable image block, it is determined that the two cable image blocks are continuous, then the number of continuous cable image blocks in the same row is counted, and the total length of the continuous cable image blocks in the same row is calculated, if , the cable image blocks at both ends of the total length are selected, the cable image blocks at the corresponding end are extended to the cable image blocks at the initial position corresponding to the end, The diameter data of the submarine cable is used; the angle between the extended connection line and the vertical line of the submarine cable image block at the corresponding end of the initial position is detected. If the angle is greater than the preset angle threshold, it is determined that the position of the submarine cable has shifted; the correction unit calculates the offset data based on the angle data, and controls the robot to retract and adjust the displacement in the corresponding direction according to the offset data, so that the laid submarine cable returns to the original position.

[0045] like Then, the image data of the already laid locations is analyzed to obtain the required data. The location of consecutive submarine cable image blocks is obtained, and a line is extended from the initial location to the new location. If the submarine cable image patch at the location is within the two extended connecting lines, then continue laying; if If the submarine cable image block at the location is not within the two extended lines, the displacement adjustment in the corresponding direction is made according to the number of submarine cable image blocks outside the extended lines, so that the laid submarine cable returns to the original location.

[0046] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A robot for laying a submarine cable, comprising two tracks (1), characterised in that: Two said track (1) upper end are equipped with mounting plate (2), two said mounting plate (2) rear end is equipped with ditching mechanism, the mounting plate (2) upper end is equipped with sealing box (3) through support rod and fixed frame, the sealing box (3) rear end is equipped with dredging mechanism, the dredging mechanism is located in ditching mechanism both sides, and two sealing boxes (3) between fixed link, the link lower end is equipped with guide mechanism; The correction unit analyzes the transmission delay deviation, the ocean current deviation and the sound speed deviation, and calculates the total position deviation; according to the total position deviation, the image data in the corresponding range is acquired, and the acquired image data is analyzed to determine whether the shift occurs at the corresponding position of the submarine cable image block, if the shift occurs, the robot is controlled to retreat according to the offset angle or the number of image blocks to adjust the displacement in the corresponding direction, so that the laid submarine cable returns to the original position. The analysis steps of the correction unit for the influence of the position deviation are as follows: S1: If the signal propagation speed is , the sensor to controller distance is , then the transmission time ; thus deduced position deviation caused by transmission delay , is the robot moving speed; when the ocean current speed direction is inconsistent with the equipment movement direction, it will cause actual displacement deviation, then the position deviation , in the control period is the ocean current flow speed, is the angle between the ocean current direction and the laying direction; when the CTD sensor measures the sound speed, the actual distance measurement value is affected by the sound speed error as follows: , is the sound speed used for calculation, thus deduced position deviation caused by sound speed change , is the true sound speed; S2: total position deviation after being affected , the camera acquires image data within the range based on the position of the cable laying range The analysis steps of the correction unit for the influence of the position deviation are as follows: K1: Determine if there is a submarine cable image block adjacent to another submarine cable image block. Then, determine if the two submarine cable image blocks are consecutive. Count the number of consecutive submarine cable image blocks in the same row and calculate the total length of consecutive submarine cable image blocks in the same row. The calculation, if Then select the total length The image blocks of the submarine cable at both ends are connected to the image blocks of the submarine cable at the corresponding ends, extending from the initial position of the submarine cable laying. This refers to the diameter data of the submarine cable; K2: detect the angle between the extension line and the vertical line of the submarine cable image block corresponding to the initial position, if the angle is greater than the preset angle threshold, it is determined that the position of the laid submarine cable is shifted; The correction unit calculates the offset data according to the angle data, and controls the robot to retreat according to the offset data to adjust the displacement in the corresponding direction, so that the laid submarine cable returns to the original position. K3: If , then analyze the image data at the laid position to obtain a position that satisfies , and obtain an extension line of the position and the initial position; if , the cable image block at the position is within the two extension lines, then continue laying; if , the cable image block at the position is not within the two extension lines, then adjust the displacement in the corresponding direction according to the number of cable image blocks outside the extension line, so that the laid cable returns to the original position.

2. The robot for laying a submarine cable according to claim 1, characterized in that: Two said mounting plate (2) front end are hinged with auxiliary plate (4), the auxiliary plate (4) front end below fixed link have rectangular pressure frame (5), and the auxiliary plate (4) one side hinged with first electric push rod (6), the first electric push rod (6) the other end hinged in sealing box (3) front end bottom.

3. The robot for laying a submarine cable according to claim 1, characterized in that: The ditching mechanism comprises two water pumps (8) mounted in the sealing box (3), one end of the water pump (8) is connected with a funnel-shaped water inlet (9), the output end of the water pump (8) is connected with a flow distribution plate (10) through a hose, a plurality of high-pressure water pipes (11) are mounted on the inner side of the flow distribution plate (10), the output ends of the plurality of high-pressure water pipes (11) are inclined inward, and one side of the flow distribution plate (10) is hinged with a second electric push rod (12), the other end of the second electric push rod (12) is hinged with the rear end bottom of the sealing box (3).

4. A robot for laying a submarine cable according to claim 3, characterized in that: The dredging mechanism comprises a slurry pump (7) mounted in the sealing box (3), one end of the slurry pump (7) is connected with a branch pipe (13) through a hose, the branch pipe (13) is connected with a dredging port (14) at both ends, the upper end of the two dredging ports (14) is fixedly connected with a connecting plate, the top surface of the connecting plate is hinged with a third electric push rod (15), the other end of the third electric push rod (15) is hinged with the rear end link, and the output end of the slurry pump (7) is connected with two sludge discharge pipes (16), the output ends of the two sludge discharge pipes (16) are inclined inward, and the output ends of the sludge discharge pipes (16) are located at the rear ends of the high-pressure water pipes (11).

5. The robot for laying a submarine cable according to claim 1, characterized in that: The guiding mechanism comprises two motors (17) installed inside the sealing box (3), the output ends of the motors (17) are connected with lead screws (18) through couplings, the lead screws (18) are threadedly connected with moving plates (19), the sealing box (3) is provided with a sliding groove at the bottom surface and matched with the movement of the moving plates (19), rubber folding sheets (20) are installed between the two sides of the moving plates (19) and the adjacent surfaces of the sliding groove, and the bottom end of the moving plate (19) is fixedly connected with a positioning clamp (21).

6. The robot for laying a submarine cable according to claim 1, characterized in that: The inner sides of the two mounting plates (2) are hingedly connected with fourth electric push rods (22), the output ends of the fourth electric push rods (22) are installed with extension plates (23), the extension directions of the two extension plates (23) are opposite, and the other ends of the two extension plates (23) are installed with clamps (24).

7. The robot for laying a submarine cable according to claim 4, characterized in that: The de-logging port (14) is provided with an anti-blocking structure, the anti-blocking structure comprises an anti-blocking pipe (25), the anti-blocking pipe (25) is connected with the de-logging port (14), one side of the anti-blocking pipe (25) is provided with a rotating groove (26), the inner side of the rotating groove (26) is rotatably connected with a rotating disc (27) which is the same in shape and size with the rotating groove (26), one end of the rotating disc (27) is circular, and the inner side of the circular shape is uniformly provided with a plurality of internal teeth (28).

Images