Submarine cable dynamic burying adjusting device and method

Abstract

The invention relates to the technical field of offshore wind power engineering, and discloses a submarine cable dynamic burying adjusting device and method.According to the submarine cable dynamic burying adjusting device and method, a submarine cable foundation construction parameter set of a submarine cable is obtained through a data processing unit, zero calibration is conducted on an optical fiber sensing unit, and the initial error of the optical fiber sensing unit in the complex submarine environment is eliminated. When the calibration is completed, the optical fiber sensing unit captures the submarine environment and submarine cable state change in real time, and the limitation of dependence on manual inspection or fixed-point sampling is broken through. Furthermore, the burying parameters are optimized in combination with the submarine cable historical construction parameter set and the dynamic judgment logic in the preset deep learning model, the problem that fixed parameter burying cannot adapt to the complex submarine environment is avoided, and the burying precision is improved. Furthermore, the analysis result is converted into an accurate execution action, so that automatic adaptation of parameters such as embedding angle and depth is realized, the damage risk of the submarine cable caused by manual misoperation is reduced, and the laying quality of the submarine cable is guaranteed.

Description

TECHNICAL FIELD

[0001] The present application relates to the offshore wind power engineering technical field, and in particular to a submarine cable dynamic burying adjusting device and method. BACKGROUND

[0002] With the development of offshore wind power to deep sea (water depth > 50m), as the core component of power transmission, the laying quality of submarine cable directly affects the operation life and operation and maintenance cost of wind power project. Although the current mainstream submarine cable construction equipment (such as the towed water jet burying plow carried by the submarine cable construction ship) has automatic laying capability, there are still problems such as disconnection between monitoring and control, obvious response lag and the like under complex working conditions.

[0003] In the prior art, although the distributed optical fiber sensing technology can realize meter-level positioning monitoring of submarine cable parameters (strong anti-electromagnetic interference capability), it does not form a closed-loop control with the actuator of the burying equipment; although the hydraulic servo technology can realize micro-adjustment of the mechanism, it lacks real-time data-driven parameter optimization logic. SUMMARY

[0004] The present application provides a submarine cable dynamic burying adjusting device and method to solve the problems of disconnection between monitoring and control, obvious response lag, lack of real-time data-driven parameter optimization logic and the like under complex working conditions in the prior art.

[0005] In a first aspect, the present application provides a submarine cable dynamic burying adjusting device, which comprises: a submarine cable burying plow body and an optical fiber sensing unit, a data processing unit and an execution adjusting unit integrated in the submarine cable burying plow body; The data processing unit is configured to obtain a set of submarine cable foundation construction parameters of the submarine cable, and calibrate the zero point of the optical fiber sensing unit by using the set of submarine cable foundation construction parameters; the optical fiber sensing unit is configured to, when the calibration is completed, collect a first set of submarine environment data and a first set of submarine cable state data of the submarine cable according to a preset frequency, and send the first set of submarine environment data and the first set of submarine cable state data to the data processing unit; the data processing unit is further configured to obtain a set of historical submarine cable construction parameters of the submarine cable, and based on the set of historical submarine cable construction parameters, use a dynamic judgment logic in a preset deep learning model to perform multi-dimensional condition analysis on the first set of submarine environment data and the first set of submarine cable state data, obtain a set of target burying parameters, and send the set of target burying parameters to the execution adjusting unit; the execution adjusting unit is configured to use the set of target burying parameters to control the submarine cable burying plow body to adjust the burying of the submarine cable.

[0006] The submarine cable dynamic burying adjusting device provided by the application obtains the submarine cable foundation construction parameter set of the submarine cable through the data processing unit and performs zero point calibration on the optical fiber sensing unit, eliminates the initial error of the optical fiber sensing unit in the complex environment of the seabed, and avoids the distortion of the collected data caused by the zero point drift of the sensor. Further, when the calibration is completed, the optical fiber sensing unit can capture the changes of the seabed environment and the submarine cable state in real time, breaking the limitation of relying on manual inspection or fixed point sampling, realizing full-time and full-range data monitoring, and helping to timely discover potential burying risks. Further, the burying parameters are optimized by combining the historical construction parameter set of the submarine cable and the dynamic judgment logic in the preset depth learning model, avoiding the problem that fixed parameters cannot adapt to complex seabed environments. At the same time, through multi-dimensional analysis, more adaptable parameters are output, improving the burying precision. Further, by using the target burying parameter set, the adjusting unit controls the burying of the submarine cable burying plow body to adjust the burying of the submarine cable, and by converting the analysis result into accurate execution actions, the defects of slow response and low precision of manual adjustment are solved, realizing the automatic adaptation of burying angle, depth and other parameters, reducing the damage risk of the submarine cable caused by manual operation errors, and ensuring the quality of submarine cable laying.

[0007] In an optional implementation, the optical fiber sensing unit comprises: an optical fiber grating sensor array uniformly arranged along the head of the submarine cable burying plow body and a distributed optical fiber implanted along the submarine cable laying path; the optical fiber grating sensor array comprises a plurality of optical fiber grating sensors for collecting a first seabed environment data set; and the distributed optical fiber is used for collecting a first submarine cable state data set.

[0008] The submarine cable dynamic burying adjusting device provided by the application realizes comprehensive capture of the seabed environment around the plow body by uniformly arranging the optical fiber grating sensor array along the head of the submarine cable burying plow body, improving the integrity of environmental monitoring. Further, by implanting the distributed optical fiber along the submarine cable laying path, real-time sensing of the whole length state of the submarine cable is realized, which helps to timely discover local stress abnormalities of the submarine cable and avoid overall failure caused by undetected local damage.

[0009] In an optional implementation, the submarine cable burying plow body is connected with a towing winch of a construction ship; and the adjusting unit comprises: a hydraulic servo system, a depth adjusting oil cylinder and a traveling speed adjusting assembly; The hydraulic servo system is used for controlling the burying angle of the submarine cable burying plow body; the depth adjusting oil cylinder is used for controlling the burying depth of the submarine cable burying plow body; and the traveling speed adjusting assembly is used for controlling the traveling speed of the submarine cable burying plow body and sending the traveling speed of the submarine cable burying plow body to the towing winch of the construction ship, so that the towing winch of the construction ship controls the cable laying speed of the submarine cable based on the traveling speed.

[0010] The submarine cable dynamic burying adjusting device provided by the application is connected with the construction ship towing winch through the submarine cable burying plow body, the speed linkage control of the two is realized, the submarine cable relaxation or over-tightening caused by the mismatching of the cable laying speed and the submarine cable burying plow body advancing speed is avoided, and the stress stability in the submarine cable laying process is ensured. Further, the angle of the submarine cable burying plow body into the earth can be accurately adjusted through the hydraulic servo system, different submarine topography is adapted, and the submarine cable burying plow body jamming or the submarine cable burying position deviation caused by improper angle is avoided. Further, the burying depth can be accurately controlled through the depth adjusting cylinder, the problems of the submarine cable being easily damaged by marine organisms or the laying difficulty caused by fixed depth are avoided, and the long-term operation safety of the submarine cable is improved. Further, the speed is controlled through the advancing speed adjusting assembly and is synchronized to the winch, the real-time matching of the submarine cable burying plow body and the construction ship cable laying speed is realized, the submarine cable accumulation or pulling caused by the speed difference is eliminated, the submarine cable mechanical damage risk is reduced, the laying efficiency is improved, and the construction stagnation caused by the speed incoordination is reduced.

[0011] In an optional implementation, the data processing unit is further configured to send an emergency instruction to the execution adjusting unit when the flow impact force in the first seabed environment data set is greater than a first preset threshold or the submarine cable strain in the first submarine cable state data set is greater than a second preset threshold; and the execution adjusting unit is further configured to stop controlling the submarine cable burying plow body based on the emergency instruction.

[0012] The submarine cable dynamic burying adjusting device provided by the application can identify the extreme environment or the submarine cable dangerous state in real time through the data processing unit, avoid the plow body damage or the submarine cable rupture caused by the risk expansion. Further, when the flow impact force in the first seabed environment data set is greater than a first preset threshold or the submarine cable strain in the first submarine cable state data set is greater than a second preset threshold, the data processing unit sends an emergency instruction to the execution adjusting unit and quickly cuts off the adjusting action, the dangerous working condition can be terminated in time, the time for subsequent manual checking or emergency treatment is saved, the loss of the equipment and the submarine cable is minimized, and the safety and reliability of the construction process are improved.

[0013] In an optional implementation, the optical fiber sensing unit is further configured to collect a second seabed environment data set and a second submarine cable state data set of the submarine cable when the adjusting is completed, and send the second seabed environment data set and the second submarine cable state data set to the data processing unit; and the data processing unit is further configured to correct the target burying parameter set based on the second seabed environment data set and the second submarine cable state data set.

[0014] The submarine cable dynamic burying adjusting device provided by the application can obtain actual effect data after adjustment through the optical fiber sensing unit, breaks the limitation that the effect cannot be verified after adjustment in the prior art, provides real feedback for parameter correction, and avoids subsequent burying problems caused by uncorrected adjustment deviation. Further, the target burying parameter set is corrected according to the actual effect data after adjustment, closed-loop control of adjustment, verification and correction is realized, the problem of fixed parameters and inability to dynamically optimize is solved, the adaptability and precision of the subsequent burying process are improved, and a continuous improvement control mechanism is formed.

[0015] In an optional embodiment, the device further comprises a power supply unit integrated in the submarine cable burying plow body, configured to provide working power for the optical fiber sensing unit, the data processing unit and the execution adjusting unit.

[0016] The submarine cable dynamic burying adjusting device provided by the application can obtain actual effect data after adjustment through the optical fiber sensing unit, breaks the limitation that the effect cannot be verified after adjustment in the prior art, provides real feedback for parameter correction, and avoids subsequent burying problems caused by uncorrected adjustment deviation. Further, the target burying parameter set is corrected according to the actual effect data after adjustment, closed-loop control of adjustment, verification and correction is realized, the problem of fixed parameters and inability to dynamically optimize is solved, the adaptability and precision of the subsequent burying process are improved, and a continuous improvement control mechanism is formed.

[0017] In an optional embodiment, the power supply unit comprises a waterproof lithium battery pack and an underwater solar charging module.

[0018] The submarine cable dynamic burying adjusting device provided by the application can obtain actual effect data after adjustment through the optical fiber sensing unit, breaks the limitation that the effect cannot be verified after adjustment in the prior art, provides real feedback for parameter correction, and avoids subsequent burying problems caused by uncorrected adjustment deviation. Further, the target burying parameter set is corrected according to the actual effect data after adjustment, closed-loop control of adjustment, verification and correction is realized, the problem of fixed parameters and inability to dynamically optimize is solved, the adaptability and precision of the subsequent burying process are improved, and a continuous improvement control mechanism is formed.

[0019] In a second aspect, the application provides a submarine cable dynamic burying adjusting method for the data processing unit in the submarine cable dynamic burying adjusting device of the first aspect or any of the corresponding embodiments. The submarine cable dynamic burying adjusting method comprises the following steps: obtaining a submarine cable basic construction parameter set and a submarine cable historical construction parameter set, and performing zero-point calibration on the optical fiber sensing unit by using the submarine cable basic construction parameter set; receiving a first submarine environment data set and a first submarine cable state data set sent by the optical fiber sensing unit; performing multi-dimensional condition analysis on the first submarine environment data set and the first submarine cable state data set by using a dynamic judgment logic in a preset deep learning model based on the submarine cable historical construction parameter set, to obtain a target burying parameter set; and sending the target burying parameter set to the execution adjusting unit, so that the execution adjusting unit controls the burying of the submarine cable by the submarine cable burying plow body by using the target burying parameter set.

[0020] The submarine cable dynamic burying adjustment method provided by the application eliminates the initial error of the optical fiber sensing unit in the complex submarine environment, avoids the distortion of the collected data caused by the zero point drift of the sensor, and further optimizes the burying parameters by real-time capturing of the submarine environment and the submarine cable state change, combining the historical construction parameter set of the submarine cable and the dynamic judgment logic in the preset depth learning model, thereby avoiding the problem that the fixed parameters cannot adapt to the complex submarine environment. At the same time, through multi-dimensional analysis, parameters with stronger adaptability are output, and the burying precision is improved. Further, the target burying parameter set is used to execute the adjustment unit to control the burying of the submarine cable by the submarine cable burying plow body, and the defects of slow response and low precision of manual adjustment are solved by converting the analysis results into accurate execution actions, realizing automatic adaptation of the burying angle, depth and other parameters, reducing the damage risk of the submarine cable caused by manual operation errors, and ensuring the quality of submarine cable laying.

[0021] In an optional embodiment, the method further comprises: When the sea current impact force in the first submarine environment data set is greater than the first preset threshold or the submarine cable strain in the first submarine cable state data set is greater than the second preset threshold, an emergency instruction is sent to the execution adjustment unit to stop the control of the submarine cable burying plow body by the execution adjustment unit based on the emergency instruction.

[0022] The submarine cable dynamic burying adjustment method provided by the application can timely terminate the dangerous working condition by sending an emergency instruction to the execution adjustment unit and quickly cutting off the adjustment action when the sea current impact force in the first submarine environment data set is greater than the first preset threshold or the submarine cable strain in the first submarine cable state data set is greater than the second preset threshold, which saves time for subsequent manual troubleshooting or emergency treatment, helps to minimize the loss of equipment and submarine cables, and improves the safety and reliability of the construction process.

[0023] In an optional embodiment, the method further comprises: When the adjustment is completed, the second submarine environment data set and the second submarine cable state data set sent by the optical fiber sensing unit are received; and based on the second submarine environment data set and the second submarine cable state data set, the target burying parameter set is corrected.

[0024] The submarine cable dynamic burying adjustment method provided by the application corrects the target burying parameter set through the actual effect data after adjustment, realizes closed-loop control of adjustment, verification and correction, solves the problem of fixed parameters and dynamic optimization, improves the adaptability and precision of the subsequent burying process, and further helps to form a continuous improvement control mechanism. BRIEF DESCRIPTION OF DRAWINGS

[0025] In order to more clearly illustrate the technical solutions in the specific embodiments of the present application or the prior art, the drawings needed to be used in the description of the specific embodiments or the prior art will be briefly introduced. Obviously, the drawings in the following description are some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor on the basis of these drawings.

[0026] Figure 1 is a structural block diagram of a submarine cable dynamic burying adjusting device according to an embodiment of the present application; Figure 2 is a flowchart of a submarine cable dynamic burying adjusting method according to an embodiment of the present application; Figure 3 is a schematic diagram of the overall structure of a submarine cable dynamic burying adjusting device based on optical fiber sensing according to an embodiment of the present application; Figure 4 is a schematic diagram of the overall structure of a submarine cable dynamic burying adjusting device based on optical fiber sensing according to an embodiment of the present application; Figure 5 is a schematic diagram of the construction state of a submarine cable construction ship according to an embodiment of the present application; Figure 6 is a flowchart of a submarine cable dynamic burying control method based on optical fiber sensing according to an embodiment of the present application; Figure 7 is a schematic diagram of the hardware structure of an electronic device according to an embodiment of the present application. DETAILED DESCRIPTION

[0027] In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are some embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0028] It can be understood that before using the technical solutions disclosed in the embodiments of the present application, the type, use range, use scenario and the like of the personal information involved in the present application should be informed to the user and the authorization of the user should be obtained through appropriate means according to relevant laws and regulations.

[0029] The terms "first", "second", "third", etc. are used only for descriptive purposes and are not to be construed as indicating or implying relative importance or an ordered ranking of the technical features indicated. Thus, features defined with "first", "second" can include one or more of such features, either explicitly or implicitly. In the description of the present application, the meaning of "a plurality" is two or more, unless explicitly specified otherwise.

[0030] Current mainstream submarine cable construction equipment (such as the towed water jet burying plow carried by the submarine cable construction ship) has automatic laying capability, but still has the following technical defects under complex working conditions: 1. Monitoring and control disconnection: the existing equipment relies on pre-set fixed parameters (such as burying depth 2m, travel speed 0.8m / min) for operation, and cannot real-time perceive the change of seabed soil resistance (such as 3-5 times increase of resistance in rock area) and the strain state of submarine cable (such as over 2000με strain caused by excessive bending), forming a "blind burying" operation mode, which is easy to cause damage to the insulation layer of submarine cable or insufficient burying depth (protection failure); 2. Poor terrain adaptability: in rock-soft soil alternating sea areas, fixed parameters cause construction efficiency to decrease by more than 40% - soft soil area is easy to increase energy consumption due to excessive burying depth, and rock area is easy to cause submarine cable to be pulled and deformed due to plow body jamming, with a submarine cable damage rate of up to 8%-12%; 3. Obvious response lag: the existing independent optical fiber monitoring system (such as distributed optical fiber temperature measurement instrument) has no direct data interaction with the construction equipment control system, and the data transmission delay is more than 1s, when sudden strong flow (flow speed >1.5m / s) causes the submarine cable to deviate, the equipment cannot be adjusted in time, and the burying precision deviation can be more than 0.8m, far exceeding the industry requirement of 0.5m precision; 4. Insufficient energy endurance: deep sea construction equipment mostly relies on lithium battery power supply, and the continuous operation time is ≤24h, which needs to be frequently recovered and charged, affecting the construction progress.

[0031] In the prior art, although the distributed optical fiber sensing technology can realize meter-level positioning monitoring of submarine cable parameters (strong anti-electromagnetic interference capability), it does not form a closed-loop control with the actuator of burying equipment (such as hydraulic adjusting system); although the hydraulic servo technology can realize micro-adjustment of the mechanism, it lacks real-time data driven parameter optimization logic. Therefore, an integrated submarine cable burying adjusting scheme integrating "real-time perception-intelligent decision-making-fast execution" is urgently needed to solve the construction pain points under complex seabed environment.

[0032] In the present embodiment, a submarine cable dynamic burying adjusting device is provided, such as Figure 1As shown, the seabed cable dynamic burying adjusting device 10 is connected with a construction ship towing winch 11, and the seabed cable dynamic burying adjusting device 10 comprises a cable burying plow body 20 and an integrated fiber sensing unit 30, a data processing unit 40 and an executing adjusting unit 50 in the cable burying plow body 20.

[0033] The fiber sensing unit 30, the data processing unit 40 and the executing adjusting unit 50 form a closed-loop control through a waterproof data bus.

[0034] Optionally, the data processing unit 40 is configured to acquire a set of seabed cable foundation construction parameters, and perform zero-point calibration on the fiber sensing unit 30 by using the set of seabed cable foundation construction parameters.

[0035] In an optional embodiment, the seabed cable represents a special cable for transmitting electric energy and signals under the seabed, and has the characteristics of resisting seawater corrosion, resisting marine organism adhesion, resisting water flow impact, resisting deep-sea pressure and the like.

[0036] In an optional embodiment, the set of seabed cable foundation construction parameters represents a set of key parameters related to initial states of construction foundation conditions and equipment, which are determined before burying of the seabed cable, and can include seabed cable foundation parameters, designed burying depth and seabed cable safety strain threshold and the like.

[0037] In an optional embodiment, the data processing unit 40 can acquire the set of seabed cable foundation construction parameters from product specifications provided by a seabed cable manufacturer, a construction sea area survey report provided by a marine surveying institution and a seabed cable burying plow and sensing unit installation manual provided by an equipment manufacturer.

[0038] Further, the data processing unit 40 can screen parameters related to zero-point of the fiber sensing unit 30 from the set of seabed cable foundation construction parameters, and then compare the screened reference parameters with current initial output values of the fiber sensing unit, to calculate a difference value, i.e. zero-point deviation.

[0039] Further, the data processing unit 40 can generate a targeted calibration instruction (such as adjusting a signal compensation value of the sensor) according to the calculated zero-point deviation, and send the calibration instruction to the fiber sensing unit 30. Then, the fiber sensing unit 30 automatically corrects zero-point compensation parameters of an internal signal processing module after receiving the instruction, and incorporates the deviation value into signal correction logic, so that the output value of the sensor in the initial state is consistent with the reference parameters, and zero-point calibration is completed.

[0040] In an optional embodiment, after calibration is completed, the data processing unit 40 can also receive the initial output value after calibration fed back by the optical fiber sensing unit 30, compare it again with the reference value in the basic construction parameter set, confirm that the deviation is within the preset allowable range, and if it meets the standard, determine that the calibration is completed and enter the subsequent data acquisition stage; if it does not meet the standard, repeat the above deviation calculation and calibration instruction sending steps until the accuracy requirement is met.

[0041] Optionally, the optical fiber sensing unit 30 is configured to, when the calibration is completed, collect a first seabed environment data set and a first submarine cable state data set of the submarine cable at a preset frequency, and send the first seabed environment data set and the first submarine cable state data set to the data processing unit 40.

[0042] In an optional embodiment, the optical fiber sensing unit 30 includes an optical fiber grating sensor array 301 uniformly arranged along the circumference of the head of the submarine cable burying plow body 20 and a distributed optical fiber 302 implanted along the submarine cable laying path.

[0043] In an optional embodiment, the frequency of the optical fiber sensing unit 30 for collecting seabed environment data is 10 Hz, and the frequency of the optical fiber sensing unit 30 for collecting submarine cable state data is 20 Hz.

[0044] In an optional embodiment, the optical fiber grating sensor array 301 can include 8 optical fiber grating sensors, and the arrangement interval of adjacent optical fiber grating sensors is 45°. Further, the soil resistance range of the optical fiber grating sensor is 0-50 kN, and the flow impact force range is 0-20 kN. Further, the optical fiber grating sensor probe is embedded in a wear-resistant ceramic coating (thickness 5 mm) to avoid soil abrasion; In an optional embodiment, the distributed optical fiber 302 adopts a G.652D single-mode optical fiber, the strain range is -2000~+2000με, the temperature range is -20℃~80℃, and the positioning accuracy is ≤1m. Further, the G.652D single-mode optical fiber (diameter 125μm) is implanted along the submarine cable outer sheath (PE material) by hot melt adhesive (sea water corrosion resistant) with a spiral pitch of 500mm.

[0045] In an optional embodiment, the first seabed environment data set represents a set of seabed external environment parameters directly related to the submarine cable burying construction, and is used to reflect the dynamic changes of the environment in the construction area, which can include soil resistance, flow impact force, etc.

[0046] The soil resistance represents the reaction force generated by the soil on the plow body (especially the head) when the submarine cable burying plow body travels in the seabed soil, and is used to reflect the compactness and hardness of the seabed, which directly affects the travel efficiency and burying depth control of the burying plow. The flow impact force represents the impact force generated by the seabed flow on the submarine cable burying plow body and the submarine cable, and is used to reflect the intensity and direction changes of the flow in the construction area.

[0047] In an optional embodiment, the first submarine cable state data set represents a parameter set reflecting the operation and force state of the submarine cable itself, for monitoring the safety state of the submarine cable during the burying process, avoiding damage to the submarine cable due to abnormal state, and can include submarine cable strain, submarine cable temperature, etc.

[0048] Among them, the submarine cable strain represents the deformation degree of the submarine cable during the burying process due to external forces such as stretching, extrusion, bending, etc., which is directly related to the mechanical safety of the submarine cable; the submarine cable temperature represents the real-time temperature of the submarine cable body (especially the conductor and the insulation layer).

[0049] In an optional embodiment, when the optical fiber sensing unit 30 receives the calibration compliance signal feedback by the data processing unit 40, that is, the calibration is completed, the optical fiber grating sensor array 301 is used to collect soil resistance, sea current impact force and other data and form the corresponding first submarine environment data set.

[0050] For example, the 8 optical fiber grating sensor probes are in direct contact with the submarine soil. When the burying plow advances, the reaction force of the soil on the probe causes the grating in the sensor to deform, resulting in a shift in the grating reflection wavelength. Further, the optical fiber grating sensor can convert the wavelength shift amount into an electrical signal and calculate the real-time soil resistance value according to the preset calibration curve reflecting the relationship between the wavelength shift and the soil resistance, and then take the average value of the data collected by the 8 optical fiber grating sensors to obtain the final soil resistance data.

[0051] Further, when the sea current acts on the optical fiber grating sensor probe, the impact force generated can also change the grating deformation and the reflection wavelength, therefore, the optical fiber grating sensor can calculate the real-time impact force value according to the calibration curve reflecting the relationship between the wavelength shift and the sea current impact force.

[0052] Further, since the 8 sensors are arranged at 45° in the circumferential direction, the sea current impact force in different directions can be collected at the same time, so that the complete data of the impact force size and direction can be calculated by vector synthesis, avoiding the misjudgment of the sea current state caused by single direction collection. Finally, the soil resistance and the sea current impact force are integrated to obtain the corresponding first submarine environment data set.

[0053] In an optional embodiment, when the optical fiber sensing unit 30 receives the calibration compliance signal feedback by the data processing unit 40, that is, the calibration is completed, the distributed optical fiber 302 is used to collect submarine cable strain, submarine cable temperature and other data and form the corresponding first submarine cable state data set.

[0054] Further, the distributed optical fiber 302 can utilize the principle of optical time domain reflection (OTDR) to emit a probe light signal into the optical fiber. When the submarine cable is stretched / compressed, the deformation of the optical fiber causes a change in the phase of the backscattered signal of the probe light. Further, the optical fiber sensing unit 30 receives the backscattered signal and calculates the strain value at different positions (positioning accuracy ≤ 1 m) through phase demodulation, thereby forming a submarine cable full-length strain distribution curve and extracting strain data of key points.

[0055] Further, the distributed optical fiber 302 can utilize the principle of Raman scattering. The intensity ratio of Stokes light to anti-Stokes light in the Raman scattered light generated by the interaction between the probe light and the optical fiber molecules changes with temperature. Further, the optical fiber sensing unit 30 analyzes the intensity ratio and combines a calibration model reflecting the relationship between the intensity ratio and temperature to calculate the real-time temperature at each position (positioning accuracy ≤ 1 m) of the submarine cable, thereby screening the data of the temperature abnormal section as the final submarine cable temperature data.

[0056] Further, the obtained strain data and submarine cable temperature data are integrated to obtain a corresponding first submarine cable state data set.

[0057] Further, the optical fiber sensing unit 30 sends the obtained first submarine environment data set and the first submarine cable state data set to the data processing unit 40.

[0058] In an optional embodiment, the collected data is transmitted to the data processing unit 40 through a waterproof optical fiber bus, and the transmission delay is ≤ 500 ms.

[0059] Optionally, the data processing unit 40 is also configured to obtain a submarine cable historical construction parameter set of the submarine cable, and based on the submarine cable historical construction parameter set, utilize the dynamic judgment logic in the preset deep learning model to perform multi-dimensional condition analysis on the first submarine environment data set and the first submarine cable state data set, obtain a target burial parameter set, and send the target burial parameter set to the execution adjustment unit 50.

[0060] In an optional embodiment, the submarine cable historical construction parameter set represents a set of burial parameters accumulated in past similar submarine cable burial projects, and can include optimal burial parameters corresponding to different submarine topographies (reefs, soft soil, sandy).

[0061] In an optional embodiment, the preset deep learning model represents an intelligent analysis model optimized by training historical construction data. In this embodiment, an LSTM (Long Short-Term Memory) model is used.

[0062] In an optional embodiment, the dynamic judgment logic represents a decision rule based on multi-dimensional conditions built in the preset deep learning model, which is used to solve single parameter analysis bias and realize dynamic adaptation of parameters.

[0063] For example, the dynamic judgment logic can include the following: (1) If soil resistance ≤ 30 kN (soft soil / sandy): output burial depth = design depth, travel speed = 0.8-1.2 m / min; (2) If 30 kN < soil resistance ≤ 45 kN (rock transition zone): output burial depth = design depth-0.3-0.5 m, travel speed = 0.5-0.7 m / min; (3) If submarine cable strain > 1200 με (close to threshold value): output burial angle = current angle ± 2-3° (adjust according to strain direction, increase angle for tensile strain, decrease angle for compressive strain).

[0064] In an optional embodiment, the data processing unit 40 can input the first submarine environment data set and the first submarine cable state data set into the LSTM model input layer. Then, the LSTM model can extract the dynamic characteristics of the real-time data through the gating mechanism of the hidden layer.

[0065] Further, based on the extracted dynamic characteristics, the data processing unit 40 can perform the above dynamic judgment logic for multi-dimensional condition analysis and obtain the final corrected target burial parameter set, which can include burial depth, travel speed, and burial angle, etc.

[0066] Further, the data processing unit 40 can send the obtained target burial parameter set to the execution adjustment unit 50.

[0067] Optionally, the execution adjustment unit 50 is configured to control the submarine cable burial plow body 20 to adjust the burial of the submarine cable by using the target burial parameter set.

[0068] In an optional embodiment, the execution adjustment unit 50 includes a hydraulic servo system 501, a depth adjustment oil cylinder 502, and a travel speed adjustment assembly 503.

[0069] In an optional embodiment, the hydraulic servo system 501 is configured to control the burial angle of the submarine cable burial plow body 20; the depth adjustment oil cylinder 502 is configured to control the burial depth of the submarine cable burial plow body 20; the travel speed adjustment assembly 503 is configured to control the travel speed of the submarine cable burial plow body 20, and send the travel speed of the submarine cable burial plow body 20 to the construction ship towing winch 11, so that the construction ship towing winch 11 controls the cable laying speed of the submarine cable based on the travel speed.

[0070] In an optional embodiment, the response time of the hydraulic servo system 501 is ≤ 300 ms for controlling the plow body angle of the submarine cable burying plow body 20; the stroke of the depth adjusting oil cylinder 502 is 0-4.5 m, and the positioning accuracy is ± 0.05 m; the traveling speed adjusting assembly 503 is linked with the construction ship towing winch 11, and the speed fine adjustment is realized through a variable frequency motor.

[0071] For example, the hydraulic servo system 501 uses an electro-hydraulic proportional valve (response time 250 ms) to control the plow body angle, the oil cylinder moves ± 50 mm, and the burying angle is adjusted to -5°~+5°.

[0072] Further, the depth adjusting oil cylinder 502 is a double-acting hydraulic cylinder (cylinder diameter 80 mm, rod diameter 40 mm), which feeds back the position through a displacement sensor (accuracy 0.01 mm) and realizes 0.5-5 m burying depth adjustment, with a positioning accuracy of ± 0.05 m.

[0073] Further, the traveling speed adjusting assembly 503 is a variable frequency motor with a power of 5.5 kW, which is linked with the construction ship towing winch 11, controls the rotating speed of the construction ship towing winch 11 through a pulse encoder (resolution 1000 lines), and realizes 0.3-1.2 m / min traveling speed fine adjustment.

[0074] In an optional embodiment, when the adjustment unit 50 receives the target burying parameter set, the burying angle in the target burying parameter set is extracted, and the electro-hydraulic proportional valve driving signal is generated according to the corresponding relationship between the burying angle and the oil cylinder stroke. Then, according to the generated electro-hydraulic proportional valve driving signal, the electro-hydraulic proportional valve in the hydraulic servo system 501 is controlled to start, and the angle of the submarine cable burying plow body 20 is adjusted by using the electro-hydraulic proportional valve.

[0075] Further, the execution adjustment unit 50 extracts the burying depth in the target burying parameter set, and determines the corresponding oil cylinder extension stroke according to the cylinder diameter, rod diameter and hydraulic principle. Then, the execution adjustment unit 50 drives the depth adjusting oil cylinder 502 to extend and meet the extracted burying depth. At the same time, the displacement sensor feeds back the position in real time.

[0076] Further, the execution adjustment unit 50 extracts the traveling speed in the target burying parameter set, and adjusts the output power of the variable frequency motor according to the traveling speed, so as to reduce the motor rotating speed and further adjust the plow body traveling speed.

[0077] Further, the pulse encoder feeds back the motor rotating speed in real time, converts the motor rotating speed into the traveling speed, and further sends the traveling speed to the construction ship towing winch 11. Further, the construction ship towing winch 11 can adjust the rotating speed through its own control system according to the received traveling speed, so as to keep the submarine cable laying speed consistent with the plow body traveling speed.

[0078] Optionally, the data processing unit 40 is further configured to send an emergency instruction to the execution adjusting unit 50 when the current flow impact force in the first seabed environment data set is greater than a first preset threshold or the cable strain in the first submarine cable state data set is greater than a second preset threshold. Further, the execution adjusting unit 50 stops controlling the plow body 20 of the submarine cable burying plow based on the emergency instruction.

[0079] In an optional embodiment, when the current flow impact force in the first seabed environment data set is greater than the first preset threshold, it indicates that the current flow environment has exceeded the safe bearing range of the device and the submarine cable, and there is a risk of plow body deviation and submarine cable breakage due to impact. When the cable strain in the first submarine cable state data set is greater than the second preset threshold, it indicates that the mechanical deformation of the submarine cable has approached the critical value of its rated tensile strength, and there is a risk of conductor breakage and insulation layer damage.

[0080] Further, when any of the above risks exists, the data processing unit 40 immediately generates an emergency instruction and sends it to the execution adjusting unit 50.

[0081] Further, the execution adjusting unit 50, after receiving the emergency instruction, controls the hydraulic servo system 501, the depth adjusting oil cylinder 502, and the travel speed adjusting assembly 503 to perform a stop operation synchronously under the control of the emergency instruction.

[0082] For example, the hydraulic servo system 501 immediately cuts off the driving signal of the electro-hydraulic proportional valve, so that the plow body angle remains in the current state, i.e., no longer adjusting, and at the same time, the oil cylinder position is locked by a hydraulic lock to avoid the angle deviation due to external force; the depth adjusting oil cylinder 502 immediately stops the oil supply of the oil cylinder hydraulic pump, and maintains the current burying depth by the mechanical lock (or hydraulic pressure maintaining circuit) of the oil cylinder to prevent the plow body from having a sudden depth change due to gravity or flow impact; the travel speed adjusting assembly 503 immediately cuts off the power supply of the frequency conversion motor, so that the travel speed of the plow body is quickly reduced to 0 or the plow body is braked by the braking device, and at the same time, the emergency stop cable releasing command is sent to the construction ship winch 11, so that the submarine cable releasing speed is synchronized to zero, avoiding the submarine cable from being excessively pulled due to the stop of the plow body.

[0083] In an optional embodiment, the execution adjusting unit 50 can further feed back a signal of emergency stop execution completion to the data processing unit 40 after all control actions are completed. At the same time, the execution adjusting unit 50 enters an emergency locking state, and refuses all non-emergency adjusting control instructions before the emergency instruction is manually released, so as to ensure that the device and the submarine cable are in a safe and stationary state, and provide a guarantee for subsequent manual troubleshooting.

[0084] Optionally, the optical fiber sensing unit 30 is further configured to collect a second seabed environment data set and a second submarine cable state data set of the submarine cable when the adjustment is completed, and send the second seabed environment data set and the second submarine cable state data set to the data processing unit 40. Further, the data processing unit 40 corrects the target burying parameter set based on the second seabed environment data set and the second submarine cable state data set.

[0085] In an optional embodiment, when the adjustment unit 50 completes the adjustment of the submarine cable burying plow body 20, the optical fiber sensing unit 30 collects real-time data after the adjustment, i.e., a second seabed environment data set and a second submarine cable state data set. Further, the collected real-time data after the adjustment is fed back to the data processing unit 40, and then the data processing unit 40 corrects the target burying parameter set according to the received real-time data after the adjustment until the parameter is stable in the safe interval.

[0086] Optionally, the submarine cable dynamic burying adjustment device 10 further comprises a power supply unit 60 integrated in the submarine cable burying plow body 20, configured to provide working power for the optical fiber sensing unit 30, the data processing unit 40, and the adjustment unit 50.

[0087] In an optional embodiment, the power supply unit 60 comprises a waterproof lithium battery pack 601 and an underwater solar charging module 602.

[0088] In an optional embodiment, the capacity of the waterproof lithium battery pack 601 is ≥200 Ah, and the working voltage is 24 V; the conversion efficiency of the underwater solar charging module 602 is ≥22%, and the continuous power supply duration of the power supply unit 60 is ≥48 h.

[0089] In an optional embodiment, the power supply unit 60 comprises a lithium iron phosphate battery pack with a working voltage of 24 V, a cycle life of 2000 times, and a capacity of 200 Ah, and a 100 W underwater solar panel with a conversion efficiency of 22% and a size of 500×300 mm. The solar panel is installed on the top of the burying plow through a support (adjustable angle 0-90°), the lithium battery pack is powered to each unit through a DC-DC converter (efficiency 92%), the continuous operation duration is ≥48 h, and an alarm is automatically triggered when the power is low (remaining 20%).

[0090] The submarine cable dynamic burying adjusting device provided by the embodiment can obtain the submarine cable foundation construction parameter set of the submarine cable through the data processing unit, calibrate the zero point of the optical fiber sensing unit, eliminate the initial error of the optical fiber sensing unit in the complex submarine environment, and avoid the distortion of the collected data caused by the zero point drift of the sensor. Further, when the calibration is completed, the optical fiber sensing unit can capture the submarine environment and the submarine cable state change in real time, break the limitation of relying on manual inspection or fixed point sampling, realize full-time and full-range data monitoring, and help to discover potential burying risks in time. Further, the burying parameters are optimized by combining the historical construction parameter set of the submarine cable and the dynamic judgment logic in the preset depth learning model, thereby avoiding the problem that the fixed parameters cannot adapt to the complex submarine environment. At the same time, the parameters with stronger adaptability are output through multi-dimensional analysis, thereby improving the burying precision. Further, the burying of the submarine cable is adjusted by the burying plow body of the submarine cable through the target burying parameter set and the execution of the adjusting unit, the analysis result is converted into accurate execution actions, the defects of slow response and low precision of manual adjustment are solved, the automatic adaptation of the burying angle, depth and other parameters is realized, the damage risk of the submarine cable caused by the manual operation error is reduced, and the submarine cable laying quality is ensured.

[0091] According to the embodiment of the present application, a submarine cable dynamic burying adjusting method is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a group of computer executable instructions, and although the logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0092] In the embodiment, a submarine cable dynamic burying adjusting method is provided, which can be used in the data processing unit 40 of the submarine cable dynamic burying adjusting device 10 described above, Figure 2 The flowchart of the submarine cable dynamic burying adjusting method according to the embodiment of the present application is shown in Figure 2 The flowchart includes the following steps: In step S201, the submarine cable foundation construction parameter set and the submarine cable historical construction parameter set are obtained, and the zero point of the optical fiber sensing unit is calibrated by using the submarine cable foundation construction parameter set.

[0093] The specific process can refer to the function description of the data processing unit 40 of the submarine cable dynamic burying adjusting device 10 in the above embodiment, which will not be described here.

[0094] In step S202, the first submarine environment data set and the first submarine cable state data set sent by the optical fiber sensing unit are received.

[0095] The specific process can refer to the function description and interaction process description of the data processing unit 40 and the optical fiber sensing unit 30 in the submarine cable dynamic burying adjustment device 10 in the above embodiments, which will not be repeated here.

[0096] In step S203, based on the set of historical submarine cable construction parameters, the dynamic judgment logic in the preset deep learning model is used to perform multi-dimensional conditional analysis on the first set of submarine environment data and the first set of submarine cable state data, to obtain a target burying parameter set.

[0097] The specific process can refer to the function description of the data processing unit 40 in the submarine cable dynamic burying adjustment device 10 in the above embodiments, which will not be repeated here.

[0098] In step S204, the target burying parameter set is sent to the execution adjustment unit, so that the execution adjustment unit controls the submarine cable burying plow body to adjust the burying of the submarine cable by using the target burying parameter set.

[0099] The specific process can refer to the function description and interaction process description of the data processing unit 40, the execution adjustment unit 50 and the submarine cable burying plow body 20 in the submarine cable dynamic burying adjustment device 10 in the above embodiments, which will not be repeated here.

[0100] The submarine cable dynamic burying adjustment method provided in this embodiment eliminates the initial error of the optical fiber sensing unit in the complex submarine environment by acquiring the set of historical submarine cable construction parameters and calibrating the zero point of the optical fiber sensing unit, and avoids the distortion of the collected data caused by the zero point drift of the sensor. Further, when the calibration is completed, the changes of the submarine environment and the submarine cable state are captured in real time, and the burying parameters are optimized by combining the set of historical submarine cable construction parameters and the dynamic judgment logic in the preset deep learning model, which avoids the problem that the fixed parameters cannot adapt to the complex submarine environment. At the same time, through multi-dimensional analysis, more adaptive parameters are output, which improves the burying precision. Further, by using the target burying parameter set, the execution adjustment unit controls the burying of the submarine cable by the submarine cable burying plow body, and by converting the analysis result into accurate execution action, the defects of slow response and low precision of manual adjustment are solved, the automatic adaptation of the burying angle, depth and other parameters is realized, the damage risk of the submarine cable caused by manual operation error is reduced, and the submarine cable laying quality is guaranteed.

[0101] In some optional embodiments, the above method further comprises: when the current in the first set of submarine environment data is greater than the first preset threshold or the strain of the submarine cable in the first set of submarine cable state data is greater than the second preset threshold, an emergency instruction is sent to the execution adjustment unit, so that the execution adjustment unit stops controlling the submarine cable burying plow body based on the emergency instruction.

[0102] The specific process can refer to the function description and interaction process description of the data processing unit 40, the execution adjustment unit 50, and the submarine cable burying plow body 20 in the submarine cable dynamic burying adjustment device 10 in the above-mentioned embodiments, which will not be repeated here.

[0103] In some optional embodiments, the above-mentioned method further comprises: when the adjustment is completed, receiving a second submarine environment data set and a second submarine cable state data set sent by the optical fiber sensing unit; and correcting the target burying parameter set based on the second submarine environment data set and the second submarine cable state data set.

[0104] The specific process can refer to the function description and interaction process description of the data processing unit 40 and the optical fiber sensing unit 30 in the submarine cable dynamic burying adjustment device 10 in the above-mentioned embodiments, which will not be repeated here.

[0105] In an example, a submarine cable dynamic burying adjustment device based on optical fiber sensing is provided, comprising a submarine cable burying plow body, and an optical fiber sensing unit, a data processing unit, an execution adjustment unit, and a power supply unit integrated in the burying plow body.

[0106] The optical fiber sensing unit comprises: an array of fiber grating sensors uniformly arranged circumferentially along the head of the burying plow body, for collecting submarine soil resistance and sea current impact force; and a distributed optical fiber implanted along the submarine cable laying path, for collecting strain and temperature of the submarine cable.

[0107] Further, the data processing unit is in communication connection with the optical fiber sensing unit, and the data processing unit is internally provided with an embedded processor and a deep learning algorithm module, for receiving the collected data of the optical fiber sensing unit, and outputting optimal burying parameters through the deep learning algorithm module, the optimal burying parameters including burying depth, burying angle, and travel speed.

[0108] Further, the execution adjustment unit is in communication connection with the data processing unit, and the execution adjustment unit comprises a hydraulic servo system, a depth adjustment oil cylinder, and a travel speed adjustment assembly, for receiving the optimal burying parameters and performing adjustment actions.

[0109] Further, the power supply unit is electrically connected with the optical fiber sensing unit, the data processing unit, and the execution adjustment unit, respectively, for providing working power supply.

[0110] Further, the optical fiber sensing unit, the data processing unit, and the execution adjustment unit form a closed-loop control through a waterproof data bus.

[0111] In an optional embodiment, the overall structure of the submarine cable dynamic burying adjustment device based on optical fiber sensing is as shown in Figure 3 and Figure 4Figure 1 shows the structure of the submarine cable burying plow. In the figure, 1 represents the submarine cable burying plow body (316L stainless steel); 2 represents the fiber grating sensor array (8 sensors, arranged circumferentially on the head of the body at an interval of 45°); 3 represents the distributed optical fiber (G.652D single-mode optical fiber, helically implanted along the outside of the submarine cable 4); 4 represents the submarine cable (220kV / 330kV submarine cable, outer diameter 180-220mm); 5 represents the data processing unit (waterproof metal shell, size 300x200x150mm, installed on the side of the body); 6 represents the execution adjustment unit (6a represents a hydraulic servo system connected to the plow body 7; 6b represents a depth adjustment cylinder located below the body; 6c represents a travel speed adjustment assembly connected to the tow 8); 7 represents the plow body (wear-resistant steel material, width 800mm, thickness 20mm); 8 represents the tow cable (steel wire rope, diameter 20mm, connected to the construction ship); 9 represents the power supply unit (consisting of lithium battery pack and underwater solar panel, installed on the top bracket of the body); 10 represents the waterproof data bus (connecting various units, including optical fiber bus and power bus); 11 represents the submarine cable construction ship; and 12 represents the winch.

[0112] In an optional embodiment, the construction state of the submarine cable construction ship is as shown in Figure 2. Figure 5

[0113] In an optional embodiment, the submarine cable dynamic burying adjustment device based on fiber sensing takes the submarine cable burying plow body as the carrier, integrates four functional units, and realizes data interaction and power supply through the waterproof data bus (IP68 protection level). The specific structure is as follows: (1) Fiber sensing unit: ① Burying plow head sensing assembly: 8 fiber grating sensors are uniformly arranged circumferentially on the burying plow head (diameter 300mm) at an interval of 45°. The sensor probe is embedded in a wear-resistant ceramic coating (thickness 5mm) to avoid soil abrasion. The sensors are connected to the data processing unit through a fiber coupler to collect soil resistance (resolution 0.1kN) and sea current impact force (resolution 0.05kN) in real time; ② Submarine cable body sensing assembly: G.652D single-mode optical fiber (diameter 125μm) is helically implanted (pitch 500mm) along the submarine cable outer sheath (PE material) through heat-resistant glue (resistant to seawater corrosion). The two ends of the optical fiber are connected to the data processing unit and the optical time domain reflectometer (OTDR) respectively to realize distributed monitoring of submarine cable strain (resolution 1με) and temperature (resolution 0.1℃) with a positioning accuracy of ≤1m; (2) Data processing unit: ​Adopt waterproof metal shell (material 316L stainless steel, wall thickness 8mm), built-in ARM Cortex-A9 processor (1.2GHz), 128GB industrial SD card (temperature resistance-40~85℃) and LSTM parameter optimization model; The processor receives the data of the optical fiber sensing unit through the RS485 bus, and outputs the optimal burial parameters combined with the historical construction parameter library (storing 100+ groups of optimal parameters of rock reefs, soft soil and sandy terrain); The model training data set includes 5000+ groups of construction data, and the prediction error is ≤5%; (3) Execute the adjustment unit: ①Hydraulic servo system: adopt electro-hydraulic proportional valve (response time 250ms) to control the angle of the plow body, the stroke of the oil cylinder is ±50mm, and the burial angle is adjusted to-5°~+5°; ②Depth adjustment oil cylinder: double-acting hydraulic cylinder (cylinder diameter 80mm, rod diameter 40mm), feedback position through displacement sensor (accuracy 0.01mm), realize 0.5-5m burial depth adjustment, positioning accuracy ±0.05m; ③Traveling speed adjustment assembly: variable frequency motor (power 5.5kW) is linked with the construction ship winch, the winch speed is controlled through pulse encoder (resolution 1000 lines), realize 0.3-1.2m / min traveling speed fine adjustment; (4) Power supply unit: Including 200Ah lithium iron phosphate battery pack (working voltage 24V, cycle life 2000 times) and 100W underwater solar panel (conversion efficiency 22%, size 500×300mm); The solar panel is installed on the top of the burial plow through the bracket (adjustable angle 0-90°), the lithium battery pack is powered to each unit through the DC-DC converter (efficiency 92%), the continuous operation time is ≥48h, and the low power (remaining 20%) automatically triggers the alarm.

[0114] Further, as shown in Figure 6 The present example also provides a kind of dynamic burying control method of submarine cable based on optical fiber sensing, specifically comprising the following steps: S1: initialization calibration: input submarine cable basic parameters, design burial depth and submarine cable safety strain threshold through data processing unit, and carry out zero point calibration to optical fiber sensing unit.

[0115] In an optional embodiment, before construction, the model of submarine cable (such as 220kV cross-linked polyethylene insulated submarine cable, outer diameter 180mm), design burial depth (such as 2m) and safety strain threshold (1500με) are input into data processing unit;The zero point of fiber grating sensor is calibrated by standard weight (10kN, 20kN), and the zero point of distributed optical fiber temperature is calibrated by thermostat (25℃).

[0116] S2: Real-time data acquisition: The optical fiber sensing unit collects seabed environment data and submarine cable state data at a preset frequency, including soil resistance, sea current impact force, submarine cable strain, and submarine cable temperature, and transmits the collected data to the data processing unit; In an optional embodiment, during the burying operation, the optical fiber sensing unit collects soil resistance and sea current impact force at a frequency of 10 Hz, and collects submarine cable strain and temperature at a frequency of 20 Hz; the data is transmitted to the data processing unit through a waterproof optical fiber bus (transmission rate 100 Mbps) with a delay of ≤500 ms.

[0117] S3: Intelligent optimization of parameters: The data processing unit analyzes the collected data through a deep learning algorithm module and a historical construction parameter library to output optimal burying parameters; In an optional embodiment, the collected data is analyzed in real time using an LSTM model: (1) If the soil resistance is ≤30 kN (soft soil / sandy): output the burying depth = design depth, and the travel speed = 0.8-1.2 m / min; (2) If 30 kN < soil resistance ≤45 kN (rock transition zone): output the burying depth = design depth-0.3-0.5 m, and the travel speed = 0.5-0.7 m / min; (3) If the submarine cable strain >1200 με (close to the threshold value): output the burying angle = current angle ±2-3° (adjust according to the strain direction, increase the angle for tensile strain, and decrease the angle for compressive strain).

[0118] S4: Execution and feedback: The execution adjustment unit receives the optimal burying parameters and performs adjustment, while the optical fiber sensing unit collects real-time data after adjustment and feeds back to the data processing unit to correct the burying parameters until the parameters are stable in the safe range; In an optional embodiment, after receiving the parameters, the execution adjustment unit adjusts the plow body angle through the hydraulic servo system, controls the burying depth through the depth adjustment oil cylinder, and adjusts the travel speed through the travel speed component; at the same time, the optical fiber sensing unit collects the data after adjustment (such as strain reduced to below 1000 με), and feeds back to the data processing unit to correct the parameters, forming a closed-loop control (adjustment period 1 s).

[0119] S5: Emergency protection: When the data collected by the optical fiber sensing unit exceeds the safety threshold, the data processing unit triggers an emergency instruction, and the execution adjustment unit suspends travel and adjusts the burying parameters.

[0120] In an optional embodiment, when the submarine cable strain > 1500 με (above the threshold value) or the current impact force > 18 kN (sudden strong current), the data processing unit triggers an acousto-optic alarm (onboard console) and outputs emergency instructions: the travel speed is reduced to 0.3 m / min, the burying angle is adjusted by ±4°, and the depth is reduced by 0.5 m; if the parameters do not return to the safe range within 10 s, the execution unit suspends the travel and waits for manual intervention.

[0121] The submarine cable dynamic burying adjusting device and control method based on optical fiber sensing provided by the present example have the following effects: 1. Distributed optical fiber sensing is first combined with hydraulic servo adjustment through a data bus to form a closed-loop control, solving the problem of "blind burying" of traditional equipment and realizing the integration of "perception-decision-execution"; 2. The LST deep learning algorithm is used to optimize parameters instead of traditional threshold triggering, which can adapt to alternating rock-soft soil terrain, and the construction accuracy is improved from the 0.5 m level to the 0.35 m level (increased by 30%), and the submarine cable damage rate is reduced from 8%-12% to 4%-5% (reduced by 40%); 3. The device is adapted to existing submarine cable burying equipment without the need to modify the main structure, and the modification cost is ≤15% of the total equipment price; 4. The continuous operation time is ≥48 h, which meets the deep sea single-day construction demand (traditional equipment ≤24 h), reduces the number of equipment recovery, and improves the construction efficiency by 25%; 5. The emergency response time is ≤500 ms, which can respond to sudden strong currents, rock jam, and other risks, and the single-project fault repair cost is saved by 2-5 million yuan; 6. It is suitable for water depths of 50-500 m, meets the deep sea wind power construction demand, the data transmission delay is ≤500 ms, and meets the real-time requirement.

[0122] Therefore, the submarine cable dynamic burying adjusting device and control method based on optical fiber sensing provided by the present example solve the defects of the existing submarine cable burying equipment, such as disconnection between monitoring and control, poor adaptability to complex terrain, delayed response, and insufficient endurance, etc. The device takes the submarine cable burying plow body as the carrier, integrates the optical fiber sensing unit (collecting soil resistance, current impact force, submarine cable strain, and temperature), the data processing unit (ARM processor + LSTM parameter optimization model), the execution adjusting unit (hydraulic servo + depth oil cylinder + speed adjusting component), and the power supply unit (lithium battery + solar power, endurance ≥48 h), and forms a closed-loop control through a waterproof data bus. The control method realizes dynamic adjustment through initialization calibration, real-time data acquisition, parameter intelligent optimization, execution feedback, and emergency protection (response ≤500 ms). The present example can improve the construction accuracy to the 0.35 m level, reduce the submarine cable damage rate by 40%, adapt to alternating rock-soft soil, deep sea strong current, and other complex terrains, reduce the fault repair cost, and meet the deep sea wind power construction demand.

[0123] Based on the above provided dynamic burying adjustment device and control method for submarine cable based on optical fiber sensing, specific embodiments are provided.

[0124] Embodiment 1: Construction in rock-soft soil alternating sea area.

[0125] 1. Construction scenario: a deep-sea wind power project (water depth 80 m), construction section length 5 km, alternating distribution of soft soil area (soil resistance 10-15 kN) and rock area (soil resistance 35-45 kN), submarine cable model 220 kV cross-linked polyethylene insulated submarine cable (outer diameter 180 mm), design burying depth 2 m, safety strain threshold 1500 με; 2. Device deployment: Embed fiber grating sensor array in burying plow head (316L stainless steel material), distribute fiber along the outer sheath of submarine cable (pitch 500 mm); Data processing unit is installed in the control room of the construction ship (waterproof level IP67), connected to the submarine burying plow through a 100 m waterproof fiber bus; Power supply unit is fixed on the side support of the burying plow, and the angle of the solar panel is adjusted to 45° (maximize light collection); 3. Operation process: S1: Initialization: input submarine cable parameters, calibrate sensor zero point (sensor output 0 V when soil resistance is 0 kN, fiber wavelength 1550 nm when temperature is 25℃); S2: Soft soil area construction (0-2 km): Fiber sensing unit collection: soil resistance 12 kN, sea current impact force 8 kN, submarine cable strain 800 με; Data processing unit output: burying depth 2 m, angle 0°, travel speed 0.8 m / min; Adjustment execution: hydraulic servo system keeps plow body horizontal, depth cylinder extends 1.5 m (total depth 2 m), dragging speed 0.8 m / min; S3: Rock area construction (2-3 km): Soil resistance increases to 40 kN, submarine cable strain increases to 1300 με; Data processing unit output: burying depth 1.5 m (decrease 0.5 m), angle +3° (plow body upwarp), travel speed 0.5 m / min; Adjustment execution: depth cylinder retracts 0.5 m, hydraulic servo system pushes plow body upwarp 3°, dragging speed decreases to 0.5 m / min; feedback data: strain decreases to 1050 με, resistance decreases to 32 kN; S4: Emergency treatment (3.5 km): Sudden strong current (flow rate 1.8 m / s), current impact force up to 19 kN, strain up to 1450 με; System triggers emergency: travel speed drops to 0.3 m / min, angle adjustment to +4°, depth decreases to 1.4 m; 5s later feedback: impact force 16 kN, strain 1100 με, back to safe range; 4. Implementation effect: Construction accuracy: average burial deviation 0.32 m (design ≤ 0.5 m); Cable quality: no damage (insulation resistance ≥ 1000 MΩ); Construction efficiency: single-day operation time 12 h, complete 3 km laying (traditional equipment complete 2.4 km), efficiency increased by 25%.

[0126] Example 2: Deep sea soft soil sea construction.

[0127] 1. Construction scene: water depth 200 m soft soil sea (soil resistance 8-12 kN), intermittent strong current (maximum flow rate 1.8 m / s), cable type 330 kV cable (outer diameter 220 mm), designed burial depth 2.5 m; 2. Key adjustment: Distributed optical fiber monitoring to strong current causes cable lateral deviation (strain 1100 με, deviation 0.4 m); Data processing unit output: travel speed from 1.0 m / min to 1.1 m / min, burial angle from 0° to +1°; 5s after adjusting, feedback deviation decreases to 0.1 m, strain 900 με; 3. Endurance: Solar panel daily power generation 1.2 kWh, lithium battery pack remaining power from 100% to 45% (continuous 18 h), meet the daily construction needs.

[0128] Figure 7 A structural diagram of an electronic device provided by the embodiment of the present application.

[0129] Specific reference will be made below Figure 7which shows a structural schematic diagram suitable for use to implement the electronic device in the embodiments of the present application. The electronic device can include a processor (such as a central processor, a graphics processor, etc.) 701, which can perform various appropriate actions and processes according to programs stored in a read-only memory (ROM) 702 or programs loaded from a memory 708 into a random access memory (RAM) 703. In the RAM 703, various programs and data required for operation of the electronic device are also stored. The processor 701, the ROM 702, and the RAM 703 are connected to each other through a bus 704. An input / output (I / O) interface 705 is also connected to the bus 704.

[0130] Generally, the following devices can be connected to the I / O interface 705: an input device 706 including, for example, a touch screen, a touch pad, a keyboard, a mouse, a camera, a microphone, an accelerometer, a gyroscope, etc.; an output device 707 including, for example, a liquid crystal display (LCD), a speaker, a vibrator, etc.; a memory 708 including, for example, a magnetic tape, a hard disk, etc.; and a communication device 709. The communication device 709 can allow the electronic device to communicate with other devices wirelessly or by wire to exchange data. Although Figure 7 The electronic device with various devices is shown, but it should be understood that all the shown devices are not required to be implemented or possessed, and more or less devices can be alternatively implemented or possessed.

[0131] In particular, according to the embodiments of the present application, the processes described above with reference to the flowcharts can be implemented as a computer software program. For example, the embodiments of the present application include a computer program product including a computer program carried on a non-transitory computer readable medium, the computer program containing program codes for executing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network through the communication device 709, or installed from the memory 708, or installed from the ROM 702. When the computer program is executed by the processor 701, the above-mentioned functions defined in the seabed cable dynamic burying adjustment method of the embodiments of the present application are performed.

[0132] Figure 7 The electronic device shown is only an example and should not bring any limitation to the functions and use range of the embodiments of the present application.

[0133] The embodiments of the present application further provide a computer readable storage medium, and the method according to the embodiments of the present application can be implemented in hardware, firmware, or recorded in a storage medium, or stored in a remote storage medium or a non-transitory machine readable storage medium and downloaded to a local storage medium through network, so that the method described herein can be processed by such software on a storage medium using a general purpose computer, a special purpose processor, or programmable or special hardware. The storage medium can be a magnetic disk, an optical disk, a read-only memory, a random access memory, a flash memory, a hard disk, or a solid state disk, etc. Further, the storage medium can also include a combination of the above-mentioned memories. It can be understood that the computer, the processor, the microprocessor controller, or the programmable hardware includes a storage component that can store or receive software or computer code, when the software or computer code is accessed and executed by the computer, the processor, or the hardware, the submarine cable dynamic burying adjustment method shown in the above embodiments is implemented.

[0134] Part of the present application can be applied as a computer program product, for example, computer program instructions, when executed by a computer, the operation of the computer can invoke or provide the method and / or technical solutions according to the present application. Those skilled in the art should understand that the form of computer program instructions in computer readable medium includes but is not limited to source file, executable file, installation package file, etc. Correspondingly, the way of computer program instructions executed by computer includes but is not limited to: the computer directly executes the instructions, or the computer compiles the instructions and then executes the corresponding compiled program, or the computer reads and executes the instructions, or the computer reads and installs the instructions and then executes the corresponding installed program. Here, the computer readable medium can be any available computer readable storage medium or communication medium accessible to the computer.

[0135] Although the embodiments of the present application are described in conjunction with the accompanying drawings, various modifications and changes can be made by those skilled in the art without departing from the spirit and scope of the present application, and such modifications and changes fall within the scope defined by the appended claims.

Claims

1. A dynamic burial adjustment device for submarine cables, characterized in that, The device includes: a submarine cable laying plow body and an optical fiber sensing unit, a data processing unit, and an execution adjustment unit integrated in the submarine cable laying plow body. The data processing unit is used to acquire the submarine cable foundation construction parameter set and use the submarine cable foundation construction parameter set to perform zero-point calibration on the optical fiber sensing unit. The fiber optic sensing unit is used to collect a first seabed environment dataset and a first submarine cable status dataset of the submarine cable at a preset frequency when calibration is completed, and to send the first seabed environment dataset and the first submarine cable status dataset to the data processing unit. The data processing unit is also used to obtain the submarine cable historical construction parameter set, and based on the submarine cable historical construction parameter set, use the dynamic judgment logic in the preset deep learning model to perform multi-dimensional conditional analysis on the first submarine environment dataset and the first submarine cable status dataset to obtain the target embedding parameter set, and send the target embedding parameter set to the execution adjustment unit. The execution adjustment unit is used to control the submarine cable laying plow body to adjust the laying of the submarine cable using the target laying parameter set.

2. The apparatus according to claim 1, characterized in that, The fiber optic sensing unit includes: a fiber grating sensor array uniformly arranged circumferentially along the head of the submarine cable laying plow body and distributed optical fibers embedded along the submarine cable laying path. The fiber optic sensor array includes multiple fiber optic sensors for collecting the first seabed environment dataset; The distributed optical fiber is used to collect the status dataset of the first submarine cable.

3. The apparatus according to claim 1, characterized in that, The submarine cable laying plow body is connected to the towing winch of the construction vessel; the execution adjustment unit includes: a hydraulic servo system, a depth adjustment cylinder and a travel speed adjustment component; The hydraulic servo system is used to control the burial angle of the submarine cable laying plow body; The depth adjustment cylinder is used to control the burial depth of the submarine cable laying plow body; The travel speed adjustment component is used to control the travel speed of the submarine cable laying plow body and to send the travel speed of the submarine cable laying plow body to the towing winch of the construction vessel, so that the towing winch of the construction vessel controls the cable laying speed of the submarine cable based on the travel speed.

4. The apparatus according to claim 1, characterized in that, The data processing unit is also used to send an emergency command to the execution adjustment unit when the impact force of the ocean current in the first seabed environment data is greater than a first preset threshold or the strain of the submarine cable in the first submarine cable status data is greater than a second preset threshold. The execution adjustment unit is also used to stop controlling the submarine cable laying plow body based on the emergency command.

5. The apparatus according to claim 1, characterized in that, The fiber optic sensing unit is also used to collect a second submarine environment dataset and a second submarine cable status dataset of the submarine cable when the adjustment is completed, and send the second submarine environment dataset and the second submarine cable status dataset to the data processing unit. The data processing unit is also used to correct the target installation parameter set based on the second seabed environment dataset and the second submarine cable status dataset.

6. The apparatus according to claim 1, characterized in that, The device further includes: The power supply unit integrated into the submarine cable laying plow body is used to provide operating power to the optical fiber sensing unit, the data processing unit and the execution adjustment unit.

7. The apparatus according to claim 6, characterized in that, The power supply unit includes: a waterproof lithium battery pack and an underwater solar charging module.

8. A method for dynamic installation and adjustment of submarine cables, characterized in that, A data processing unit within the submarine cable dynamic burial adjustment device according to any one of claims 1 to 7; the method includes: Obtain the set of submarine cable foundation construction parameters and the set of historical submarine cable construction parameters, and use the set of submarine cable foundation construction parameters to perform zero-point calibration on the fiber optic sensing unit. Receive the first seabed environment dataset and the first submarine cable status dataset sent by the fiber optic sensing unit; Based on the historical construction parameter set of the submarine cable, the dynamic judgment logic in the preset deep learning model is used to perform multi-dimensional conditional analysis on the first seabed environment dataset and the first submarine cable status dataset to obtain the target embedding parameter set. The target burial parameter set is sent to the execution adjustment unit so that the execution adjustment unit can use the target burial parameter set to control the submarine cable burial plow body to adjust the burial of the submarine cable.

9. The method according to claim 8, characterized in that, The method further includes: When the impact force of the ocean current in the first seabed environment data set exceeds the first preset threshold or the strain of the submarine cable in the first submarine cable status data set exceeds the second preset threshold, an emergency command is sent to the execution adjustment unit so that the execution adjustment unit stops controlling the submarine cable laying plow body based on the emergency command.

10. The method according to claim 8, characterized in that, The method further includes: Once the adjustment is complete, the system receives the second submarine environment dataset and the second submarine cable status dataset sent by the fiber optic sensing unit. Based on the second seabed environment dataset and the second submarine cable status dataset, the target installation parameter set is corrected.

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