Self-adaptive cable laying seabed in-situ monitoring equipment system and recovery method thereof

Abstract

The invention discloses a self-adaptive cable laying seabed in-situ monitoring equipment system, which comprises a frame structure, a penetration system, a damping winch, a hydraulic limiting wheel set and a probe rod body, and is characterized in that the frame structure mainly comprises an upper frame and a lower frame; the hydraulic limiting wheel sets comprise the upper hydraulic limiting wheel set arranged in the upper frame and the lower hydraulic limiting wheel set arranged in the lower frame. The penetration system comprises a penetration mechanism and a penetration clamping mechanism, the penetration mechanism is fixed to the lower frame, a penetration motor is arranged on the lower frame and drives the penetration mechanism to drive the penetration clamping mechanism to vertically move up and down, a damping winch is arranged on a buoyancy box, the bottom of the buoyancy box is connected with the upper frame through a separated electromagnet, and the upper frame is connected with the lower frame through a damping winch. The equipment system has the advantages of being simple in structure, high in stability, easy and convenient to operate and the like, stable release and separation of the probe rod body and the monitoring equipment main body component are achieved, and meanwhile the safety of the monitoring equipment main body in the lifting process can be guaranteed through the recovery method.

Description

Technical Field

[0001] This invention relates to the field of seabed monitoring, and in particular to an adaptive cable-laying in-situ seabed monitoring equipment system and its recovery method. Background Technology

[0002] Marine disasters are characterized by their diverse types, wide distribution, high frequency, and difficulty in prevention. In recent years, influenced by global climate change, the frequency of extreme storm sea conditions—characterized by their strong intermittent nature, long duration, and wide impact—has increased significantly, with their intensity repeatedly breaking historical records. Extreme weather events such as typhoons and cold waves cause localized seabed erosion, soil liquefaction, and deformation sliding, leading to the instability and capsizing of offshore platforms. Currently, there is an urgent need to develop a system of equipment capable of long-term, real-time, in-situ monitoring under extreme storm conditions for the investigation and data collection of marine engineering site selection areas.

[0003] Currently, existing marine geological in-situ monitoring technologies mainly rely on seabed static cone penetration tests (CPPTs). These tests involve inserting a monitoring probe to a predetermined depth using a penetration mechanism, and then using sensors on the probe's probe to acquire long-term, real-time data on the physical and mechanical properties of seabed sediments. In traditional seabed in-situ monitoring systems, the probe, along with the penetration mechanism and other components, remains on the seabed after penetration. Under complex marine environmental conditions, the stability of the bottom-mounted platform is often controlled by factors such as seabed hydrodynamics, seabed sediment erosion and deposition, localized soil liquefaction, and shallow gas. Maintaining the stability and stability of the equipment is crucial for in-situ monitoring. To avoid excessive influence of the complex seabed environment on the stability of the equipment system, Chinese patent CN 116558489 A discloses a method for separating the probe from the main body of the equipment, using an underwater cable winch to achieve cable deployment and retrieval during separation. However, its cable storage winch employs a CNC design, resulting in a constant cable winding and unwinding length. This necessitates high-precision cable winding and unwinding strokes during probe insertion, requiring coordinated operation between probe penetration depth and winch rotation. Consequently, the overall control system exhibits significant instability. Furthermore, during system retrieval, the cable is slack and easily drifts in the water under strong hydrodynamic forces. This not only entangles internal components but also makes the cable prone to rust and damage, drastically reducing its lifespan.

[0004] Meanwhile, the equipment system recovery method disclosed in Chinese patent CN 116558489 A requires the use of a deck winch to directly lift the entire frame to the sea surface. However, it has strict environmental requirements for the sea conditions of the operating area. During the lifting process, the entire equipment system is easily affected by ocean currents, causing it to sway in the seawater, which poses a significant threat to the safety of the equipment. In particular, after being lifted to the sea surface, it will also be affected by wind and waves.

[0005] To address some of the shortcomings in the development of the aforementioned seabed in-situ monitoring equipment systems, this invention proposes an adaptive cable-laying seabed in-situ monitoring equipment system and its recovery method. This system features simple structure, high stability, and easy operation. While achieving stable release and separation of the probe from the main components of the monitoring equipment, the recovery method also ensures the safety of the main body of the monitoring equipment during the lifting process, effectively solving the above problems. Summary of the Invention

[0006] To address the problems existing in the background art, the present invention provides an adaptive cable-laying in-situ monitoring equipment system for the seabed and its recovery method.

[0007] The present invention adopts the following technical solution: An adaptive cable-laying in-situ monitoring system for the seabed includes a frame structure, a penetration system, a damping winch, a hydraulic limiting wheel assembly, and a probe rod. The frame structure mainly consists of an upper frame and a lower frame. The hydraulic limiting wheel assembly includes an upper hydraulic limiting wheel assembly located in the upper frame and a lower hydraulic limiting wheel assembly located in the lower frame. The penetration system includes a penetration mechanism and a penetration clamping mechanism. The penetration mechanism is fixed on the lower frame, and a penetration motor is located on the lower frame, driving the penetration mechanism to move the penetration clamping mechanism vertically up and down. The damping winch is located in a buoyancy tank, and the bottom of the buoyancy tank is connected to the upper frame via a separable electromagnet.

[0008] The insertion mechanism includes an insertion screw, a screw support, a screw commutator, and a steering gear. The screw commutator is connected to the bottom of the insertion screw, and the steering gear is connected to the screw commutator via a drive shaft. The steering gear, screw commutator, and screw support are all fixed to the lower frame.

[0009] The steering mechanism is provided in two parts. The drive motor drives the steering mechanism to transmit torque to the two lead screw commutators through the transmission shaft, so that the lead screw rotates clockwise or counterclockwise, driving the vertical movement of the insertion clamping mechanism.

[0010] The insertion clamping mechanism includes a clamping screw, a clamping motor, an optical shaft, a clamping plate, and a clamping block. The clamping plate has a circular hole in the middle for the probe rod to pass through. The two ends of the clamping screw are fixed on the bearing seats of the clamping plate. The two ends of the clamping block are respectively fixed to the clamping screw and the optical shaft. The clamping motor causes the clamping screw to rotate clockwise or counterclockwise through the transmission torque. When the clamping screw rotates, the optical shaft moves the clamping block horizontally left and right, forming a movement to clamp or release the probe rod.

[0011] The damping winch includes a cable storage drum, a damping brake shaft, a winch support, a guide bearing, a cable laying screw bearing, a support rod, a cable laying screw, a guide shaft, a cable laying device, and bearing baffles. A support rod is provided on the front side of the winch support, and bearing baffles are provided on both sides of the winch support. The cable storage drum is connected to the bearing baffles through the damping brake shaft. The two ends of the cable laying screw are connected to the bearing baffles through the cable laying screw bearings. The two ends of the guide shaft are connected to the bearing baffles through the guide bearings. The cable laying device is horizontally slidably connected to the cable laying screw.

[0012] The damping brake shaft includes a rotating shaft, dynamic friction brake pads, and static friction brake pads. The rotating shaft is fixed to the inner center of the cable storage drum and protrudes outward from the spoke plate of the cable storage drum. Dynamic friction brake pads are provided at both ends of the rotating shaft and can rotate around the shaft with the cable storage drum. The static friction brake pads are welded to the bearing baffle.

[0013] The lower hydraulic limit wheel assembly includes a fixed rod, a hydraulic cylinder body, a hydraulic rod, a clamping wheel, a connector, a connecting block, an end cap, an oil hole, a rear connecting block, and a fixing hole. The fixed rod is connected to the hydraulic cylinder body through the rear connecting block with the fixing hole. The hydraulic cylinder body has an oil hole. The end cap at the other end of the hydraulic cylinder body is connected to the hydraulic rod. The hydraulic rod is connected to the clamping wheel through the connector and the connecting block. The outer ring of the clamping wheel has a groove, and a rubber pad is placed inside the groove for anti-slip. The upper hydraulic limit wheel assembly has the same structure as the lower hydraulic limit wheel assembly.

[0014] The upper frame is provided with multiple sand-proof plates of the same size around its perimeter. The bottom of the upper frame is a fixing plate, and there are symmetrically arranged upper frame supports between the upper frame and the fixing plate.

[0015] The lower frame has a square lower section and a trapezoidal upper section. The square lower section of the frame has H-shaped steel cross braces on the upper part. The lower part of the lower frame also has two hydraulic limit wheel support plates. There are four lifting rings at the four corners of the top of the frame.

[0016] Furthermore, a method for recovering a seabed in-situ monitoring equipment system based on adaptive cable deployment includes the following steps: Step 1: Equipment system deck preparation: Activate the electromagnet device to install the damping winch to the top of the upper protective frame, start the clamping motor to clamp the probe rod body and maintain a constant clamping force, use the penetration mechanism to drive the probe cone tip to the bottom of the lower frame and reset it flush with the frame, and then start the hydraulic cylinder in the upper and lower hydraulic limit wheel sets. Step 2: Power / Data Cable Installation: Start the damping winch to release the power / data cable, pull the cable vertically to the probe rod body, and connect it with a water-tight connector; Step 3: Installation of lifting cables: Pass the lifting cables of the shipborne / platform crane through the lifting rings on the lower frame, and merge the ends of the lifting cables into one and install it on the crane hook. Finally, lift the in-situ monitoring equipment to the water surface through the A-frame / shelter deck / moon pool to await lowering. Step 4: Equipment system lowering and seabed setting: Lower the equipment to the seabed at a constant speed using hoisting cables until the operating conditions are met; Step 5: Probe rod insertion and winch adaptive cable release: After the equipment is settled, start the insertion motor and, in conjunction with the commutator and steering gear, synchronously drive the insertion screw to rotate clockwise. This drives the clamping mechanism, which has already clamped the probe rod, to move downwards with the screw rotation for insertion. When the clamping mechanism moves downwards to above the lower hydraulic limit wheel set, drive the clamping motor to release the probe rod. The insertion motor synchronously drives the insertion screw to rotate counterclockwise, moving the clamping mechanism upwards to the reset position and driving the clamping motor to clamp the probe rod. Repeat the above operation to finally complete the insertion of the probe rod. Step Six: Damping Winch Release and Recovery: After the probe rod is inserted, activate the electromagnet separating the damping winch from the upper frame, causing the damping winch to separate from the upper frame. The damping winch completes the adaptive cable laying operation until it floats to the sea surface and stops laying the cable. Step 7: Monitoring Equipment Frame Structure Recovery: After the damping winch floats to the sea surface, it is placed on the platform / ship deck and secured. By lifting the hoisting cable through the lifting ring, the equipment frame is recovered upward along the cable through the limiting design of the limit wheel set. Step 8: In-situ monitoring on the seabed: The recovered damping winch will be disconnected from the cable and the cable will be transferred to a stable power interface and data receiving port for long-term in-situ monitoring.

[0017] This invention provides an adaptive cable-laying in-situ seabed monitoring equipment system and its recovery method: (1) This device overcomes the problem that the power or data transmission cable is difficult to release accurately when the probe is inserted or the equipment system is being recovered. It utilizes the damping braking principle and designs a damping cable release mechanism to achieve adaptive release of the cable within the equipment system while avoiding inaccurate cable release length, which would reduce work efficiency. (2) This invention solves the problem of seabed stability issues caused by factors such as self-weight or strong hydrodynamic forces, such as sinking and overturning of seabed in-situ monitoring equipment. Traditional seabed in-situ monitoring equipment leaves the penetration mechanism, winch mechanism and other components on the seabed after the probe penetrates the seabed. Under strong hydrodynamic forces, the acquisition of monitoring data is difficult due to factors such as self-weight. This invention designs the winch mechanism as a release structure, connects it to the main structure of the monitoring equipment in the form of an electromagnet, and proposes a method for recovering the equipment system after the probe penetration is completed. (3) It overcomes the difficulty of the cable getting tangled with the equipment system structure under the action of water flow during the equipment system recovery; the hydraulic limit wheel group of the present invention, after completing the probe penetration and guidance operation, limits the cable of the equipment system, thus ensuring the stability of the cable in the water. Attached Figure Description

[0018] Figure 1 : A three-dimensional view of the overall structure of the invention; Figure 2 : Front view of the overall structure of the invention; Figure 3 Side view of the overall structure of the invention; Figure 4 : A three-dimensional structural diagram of the damping winch of this invention; Figure 5 : Schematic diagram of the damping brake cross-sectional structure of the damping winch of this invention; Figure 6 : Schematic diagram of the hydraulic limit wheel assembly structure of the present invention; Figure 7 : Schematic diagram of the recycling method of the present invention; The numbers marked in the diagram represent the following in order: 1: Buoyancy box, 101: Buoyancy box leg support, 102: Buoyancy box bottom support frame, 2: Damping winch, 201: Cable storage drum, 2011: Wheel spoke plate, 2012: Cable storage compartment, 202: Damping brake shaft, 2021: Rotating shaft, 2022: Dynamic friction brake pad, 2023: Static friction brake pad, 203: Winch bracket, 204: Guide bearing, 205: Cable laying screw bearing, 206: Support rod, 207: Cable laying screw, 208: Guide shaft, 209: Cable laying device, 2091: Cable laying guide column, 210: Bearing baffle, 3: Upper frame, 301: Upper frame sandproof plate, 302: Upper frame bracket, 303: Upper frame fixing plate, 4: Probe rod body, 5: Upper hydraulic... 6: Lower hydraulic limit wheel assembly; 601: Fixed rod; 602: Hydraulic cylinder body; 603: Hydraulic rod; 604: Clamping wheel; 605: Connecting piece; 606: Connecting block; 607: End cap; 608: Oil hole; 609: Rear connecting block; 610: Fixed hole; 7: Lower frame; 701: Frame cross brace; 702: Frame body; 703: Lower hydraulic limit wheel assembly support plate; 8: Penetration mechanism; 801: Penetration screw; 802: Screw support; 803: Screw reversing device; 804: Steering device; 9: Penetration clamping mechanism; 901: Clamping screw; 902: Clamping motor; 903: Optical shaft; 904: Clamping plate; 905: Clamping block; 10: Penetration motor; 11: Separable electromagnet; 12: Lifting ring. Detailed Implementation

[0019] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0020] Referring to the accompanying drawings, an adaptive cable-laying in-situ monitoring equipment system for the seabed is characterized by comprising a frame structure, a penetration system, a damping winch 2, a hydraulic limiting wheel assembly, and a probe rod 4. The frame structure mainly comprises an upper frame 3 and a lower frame 7. The hydraulic limiting wheel assembly includes an upper hydraulic limiting wheel assembly 5 located in the upper frame 3 and a lower hydraulic limiting wheel assembly 6 located in the lower frame 7. The penetration system includes a penetration mechanism 8 and a penetration clamping mechanism 9. The penetration mechanism 8 is fixed on the lower frame 7, and a penetration motor 10 is located on the lower frame 7, driving the penetration mechanism 8 to move the penetration clamping mechanism 9 vertically up and down. The damping winch 2 is located in a buoyancy box 1, and the bottom of the buoyancy box 1 is connected to the upper frame 3 via a separable electromagnet 11.

[0021] The damping winch 2 is mounted on the bottom support frame 102 of the H-shaped steel buoyancy box. The buoyancy box 1 is connected to the bottom support frame 102 of the buoyancy box through the buoyancy box leg support 101 to form an integral structure. The bottom of the flat plate of the bottom support frame 102 of the buoyancy box is connected to the upper frame 3 through the separate electromagnets 11 located at the four corners.

[0022] The upper frame 3 serves as the support structure for the damping winch 2 and the protective structure for the probe rod 4. It is constructed of H-shaped stainless steel and features lightweight and high strength. Multiple identical upper frame sand-proof plates 301 are fixed around the upper frame 3 to prevent large particles of mud, sand, organisms, fishing nets, and other foreign objects from entering the penetration system. Two H-shaped steel upper frame fixing plates 303 are welded to the bottom of the upper frame 3 to support it and connect to the lower frame 7. Symmetrically arranged H-shaped steel upper frame supports 302 are also welded between the upper frame 3 and the upper frame fixing plates 303 to ensure the structural stability of the upper frame 3. Inside the upper frame 3, a set of upper hydraulic limit wheels 5 is also installed to clamp the probe rod 4.

[0023] The lower frame 7 is mainly used to house the penetration mechanism 8. Like the upper frame 3, the lower frame 7 is made of H-shaped stainless steel. The main body 702 of the lower frame 7 has a square lower section and a trapezoidal upper section. The square lower section of the main body 702 is equipped with H-shaped steel cross braces 701 to ensure the structural stability of the seabed monitoring platform. Two hydraulically controlled wheel chock support plates 703 are also provided at the lower part of the lower frame 7 to support the hydraulically controlled wheel chocks 6. Additionally, four lifting rings 12 are welded to the four corners of the top of the main body 702 for hoisting the monitoring equipment.

[0024] The insertion mechanism 8 includes an insertion screw 801, a screw support 802, a screw commutator 803, a steering mechanism 804, and an insertion motor 10. The top of the insertion screw 801 is connected to the screw support 802, which is welded to the H-shaped stainless steel at the top of the lower frame 7 for top positioning of the insertion screw 801. The screw commutator 803 is connected to the bottom of the insertion screw 801 and is welded to the H-shaped stainless steel at the bottom of the lower frame 7 for bottom positioning and structural support of the insertion screw 801. The steering mechanism 804 is connected to the screw commutator 803 via a drive shaft for adjusting the transmission direction of the insertion motor 10. The steering mechanism 804 is also welded to the H-shaped stainless steel at the bottom of the lower frame 7.

[0025] The insertion motor 10 drives two steering gears 804 to generate equal torque force, which is then transmitted to two lead screw commutators 803 through the transmission shaft, causing the insertion lead screw 801 to rotate clockwise or counterclockwise, thereby driving the insertion clamping mechanism 9 to move vertically up and down.

[0026] The main purpose of the insertion clamping mechanism 9 is to stabilize and clamp the probe rod 4 and enable it to move vertically up and down. It includes a clamping screw 901, a clamping motor 902, an optical shaft 903, a clamping plate 904, and clamping blocks 905. The clamping plate 904 has a circular hole in the middle for the probe rod 4 to pass through. The two ends of the clamping screw 901 are spliced ​​and fixed on the bearing seats of the clamping plate 904. The clamping motor 902 causes the clamping screw 901 to rotate clockwise or counterclockwise through the transmission torque. The two clamping blocks 905 are spliced ​​with the clamping screw 901 and the optical shaft 903 at their respective ends. The optical shaft 903 is mainly used to guide the movement of the clamping blocks 905. When the clamping screw 901 rotates, the optical shaft 903 moves the clamping blocks 905 to slide horizontally left and right, forming the movement of clamping or releasing the probe rod 4.

[0027] The damping winch 2 is mainly used for storing and releasing cables of the monitoring equipment system. It includes a cable storage drum 201, a damping brake shaft 202, a winch support 203, a guide bearing 204, a cable laying screw bearing 205, a support rod 206, a cable laying screw 207, a guide shaft 208, a cable laying device 209, and a bearing baffle 210. The damping winch 2 is supported by a winch support 203 made of square tubing. A support structure is located on the front side of the winch support 203. Rod 206 is used to prevent the support from becoming unstable. Bearing baffles 210 are provided on both sides of the winch support 203 to support the damping brake shaft 202, guide bearing 204, and cable-laying screw bearing 205. The cable storage drum 201 is connected to the bearing baffle 210 via the damping brake shaft 202. Both ends of the cable-laying screw 207 are connected to the bearing baffle 210 via the cable-laying screw bearing 205. Both ends of the guide shaft 208 are connected to the bearing baffle 210 via the guide bearing 204. The cable-laying device 209 is horizontally sliding on the cable-laying screw 207, working in conjunction with the cable-laying guide post 2091 to achieve orderly cable laying.

[0028] The damping brake shaft 202 operates on the principle of damping braking and includes a rotating shaft 2021, dynamic friction brake pads 2022, and static friction brake pads 2023. The rotating shaft 2021 is welded to the inner center of the cable storage drum 201 and protrudes outward from the spoke plate 2011 of the cable storage drum 201. Dynamic friction brake pads 2022 are provided at both ends of the rotating shaft 2021 and can rotate around the shaft with the cable storage drum 201. The static friction brake pads 2023 are welded to the bearing baffle 210. The dynamic friction brake pads 2022 and static friction brake pads 2023 are in close contact in space, maintaining sufficient friction force during non-operational penetration and retrieval phases to ensure that the cable storage drum 201 does not rotate freely.

[0029] The upper hydraulic limit wheel assembly 5 and the lower hydraulic limit wheel assembly 6, respectively placed on the upper frame 3 and the lower frame 7, have the same structure, including a fixing rod 601, a hydraulic cylinder body 602, a hydraulic rod 603, a clamping wheel 604, a connecting piece 605, a connecting block 606, an end cap 607, an oil hole 608, a rear connecting block 609, and a fixing hole 610. The fixing rod 601 is a fixing structure between the limit wheel assembly and the lower hydraulic limit wheel assembly support plate 703 or the upper frame 3. The fixing rod 601 is connected to the hydraulic cylinder body 602 through the rear connecting block 609 with the fixing hole 610. The hydraulic cylinder body 602 has an oil hole 608 for filling with oil to achieve hydraulic movement. The end cap 607 at the other end of the hydraulic cylinder body 602 is connected to the hydraulic rod 603. The hydraulic rod 603 is connected to the clamping wheel 604 through the connecting piece 605 and the connecting block 606. The outer ring of the clamping wheel 604 has grooves for clamping the probe rod body 4 and the limiting cable. Rubber pads are placed inside the grooves for anti-slip. During the penetration phase, the two clamping wheels 604 move inwards and horizontally towards each other under the action of the hydraulic rod 603 to clamp the probe rod body 4 and maintain the clamping force. When the probe rod body 4 moves vertically downwards past the clamping wheels 604, the two clamping wheels 604 can again move inwards and horizontally towards each other under the action of the hydraulic rod 603 and come into contact with each other, thus limiting the cable movement.

[0030] like Figure 7 As shown, a method for recovering an equipment system after probe penetration includes the following steps: Step 1: Equipment System Deck Preparation: Activate the electromagnet device to install the damping winch on the top of the upper protective frame. Start the clamping motor to clamp the probe rod body and maintain a constant clamping force. Use the penetration mechanism to drive the probe cone tip to the bottom of the lower frame and reset it flush with the frame. Then, activate the hydraulic cylinders in the upper and lower hydraulic limit wheel sets to clamp the probe rod body and maintain a constant clamping force.

[0031] Step 2: Power / Data Cable Installation: Start the damping winch to release the power / data cable, pull the cable vertically to the probe rod, and connect it with a water-tight connector. Due to the influence of the damping winch, the dynamic friction plate and the static friction plate are relatively stationary at this time, and the cable is subjected to frictional force, maintaining a vertical tension state.

[0032] Step 3: Installation of Lifting Cables: Thread the lifting cables of the shipborne / platform crane through the four lifting rings on the lower frame, and merge the ends of the four lifting cables into one cable and install it onto the crane hook. Finally, hoist the in-situ monitoring equipment to the water surface via the A-frame / shelter deck / moon pool, awaiting lowering.

[0033] Step Four: Equipment System Lowering and Sealing: Based on the preliminary geophysical survey results, the equipment is lowered to the seabed at a uniform speed using hoisting cables. Figure 7a) Once the predetermined depth is reached, stop lowering the hoisting cable, assess the stability of the equipment on the ground based on its posture, and proceed to the next step if the posture meets the operating conditions.

[0034] Step 5: Probe rod insertion and winch adaptive cable release: After the equipment is settled, start the insertion motor and, in conjunction with the commutator and steering gear, synchronously drive the two insertion screws to rotate clockwise. This causes the clamping mechanism, which has already gripped the probe rod, to move downwards with the screw rotation for insertion. When the clamping mechanism moves downwards to a certain distance above the lower hydraulic limit wheel set, drive the clamping motor to release the probe rod. Simultaneously, the insertion motor drives the insertion screws to rotate counterclockwise, moving the clamping mechanism upwards to the reset position and driving the clamping motor to grip the probe rod. Repeat the above operation to finally complete the insertion of the probe rod. During the penetration of the probe rod, the cable is subjected to a downward vertical tension, and the damping brake shaft rotates within the drum. At this time, the penetration force will counteract the friction between the dynamic and static friction plates, and the damping winch completes the adaptive cable release operation. During this process, when the probe rod leaves the upper and lower hydraulic limit wheel sets, its hydraulic cylinder is immediately activated to drive the two clamping wheels to move inwards towards each other and fit together. Figure 7 (b) At this point, the grooves of the two clamping wheels become the limiting guide rails for the cable. When the probe body penetrates to the designed depth, the penetration motor stops moving, thus completing the entire process of the probe body penetration.

[0035] Step Six: Damping Winch Release and Retrieval: After the probe rod has penetrated, activate the electromagnet separating the damping winch from the upper frame, causing the damping winch to detach from the upper frame. Figure 7 c) Due to the presence of the buoyancy box at the top of the damping winch, the damping winch will be subjected to an upward buoyancy force and eventually rise to the sea surface. During the process of the damping winch rising, the cable will be affected by the vertical upward tension. At this time, the upward buoyancy force will offset the friction between the dynamic friction plate and the static friction plate. The damping winch completes the adaptive cable laying operation until it rises to the sea surface. The friction between the dynamic friction plate and the static friction plate will once again dominate the force on the damping brake shaft and stop the cable laying movement.

[0036] Step 7: Monitoring Equipment Frame Structure Recovery: After the damping winch rises to the sea surface, it is manually retrieved to the platform / ship deck and secured, while maintaining the cable tension. At this time, the combination of the upper and lower limit wheel sets inside the equipment system firmly restricts the cable from drifting underwater due to ocean currents and other hydrodynamic forces. By lifting the hoisting cable passing through the four lifting rings, the equipment frame is recovered upwards along the cable through the limiting wheel set's design. Figure 7 d) This also avoids shaking caused by the lack of a limit device when the equipment is recycled.

[0037] Step 8: In-situ monitoring on the seabed: The recovered damping winch is dismantled, and the cable is transferred to a stable power interface and data receiving port to provide power and data transmission for the probe left in the seabed, thereby achieving the function of long-term in-situ monitoring.

[0038] Note that the above description is merely a preferred embodiment of the present invention and the technical principles employed. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and various obvious changes, readjustments, and substitutions can be made without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments, and may include many other equivalent embodiments without departing from the concept of the present invention, the scope of which is determined by the scope of the appended claims.

Claims

1. A self-adaptive cable-laying in-situ seabed monitoring system, characterized in that, The system includes a frame structure, a penetration system, a damping winch (2), a hydraulic limiting wheel assembly, and a probe rod (4). The frame structure mainly includes an upper frame (3) and a lower frame (7). The hydraulic limiting wheel assembly includes an upper hydraulic limiting wheel assembly (5) located in the upper frame (3) and a lower hydraulic limiting wheel assembly (6) located in the lower frame (7). The penetration system includes a penetration mechanism (8) and a penetration clamping mechanism (9). The penetration mechanism (8) is fixed on the lower frame (7). The penetration motor (10) is located on the lower frame (7) and drives the penetration mechanism (8) to drive the penetration clamping mechanism (9) to move vertically up and down. The damping winch (2) is located in the buoyancy box (1). The bottom of the buoyancy box (1) is connected to the upper frame (3) via a separable electromagnet (11).

2. The adaptive cable-laying in-situ seabed monitoring equipment system according to claim 1, characterized in that, The insertion mechanism (8) includes an insertion screw (801), a screw support (802), a screw commutator (803), and a steering gear (804). The screw commutator (803) is connected to the bottom of the insertion screw (801), and the steering gear (804) is connected to the screw commutator (803) through a drive shaft. The steering gear (804), the screw commutator (803), and the screw support (802) are all fixed on the lower frame (7).

3. The adaptive cable-laying in-situ seabed monitoring equipment system according to claim 2, characterized in that, The steering gear (804) is provided in two parts. The drive motor (10) drives the steering gear (804) to transmit the torque force to the two lead screw commutators (803) through the transmission shaft, so that the lead screw (801) rotates clockwise or counterclockwise, driving the insertion clamping mechanism (9) to move vertically up and down.

4. The adaptive cable-laying in-situ seabed monitoring equipment system according to claim 1, characterized in that, The insertion clamping mechanism (9) includes a clamping screw (901), a clamping motor (902), an optical shaft (903), a clamping plate (904), and a clamping block (905). The clamping plate (904) has a circular hole in the middle for the probe rod (4) to pass through. The two ends of the clamping screw (901) are fixed on the bearing seats of the clamping plate (904). The two ends of the clamping block (905) are respectively fixed to the clamping screw (901) and the optical shaft (903). The clamping motor (902) causes the clamping screw (901) to rotate clockwise or counterclockwise through the transmission torque. When the clamping screw (901) rotates, the optical shaft (903) slides horizontally left and right in conjunction with the clamping block (905) to form a movement of clamping or releasing the probe rod (4).

5. The adaptive cable-laying in-situ seabed monitoring equipment system according to claim 1, characterized in that, The damping winch (2) includes a cable storage drum (201), a damping brake shaft (202), a winch support (203), a guide bearing (204), a cable laying screw bearing (205), a support rod (206), a cable laying screw (207), a guide shaft (208), a cable laying device (209), and a bearing baffle (210). The front side of the winch support (203) is provided with a support rod (206), and the sides of the winch support (203) are provided with... There is a bearing baffle (210), the cable storage drum (201) is connected to the bearing baffle (210) through the damping brake shaft (202), the two ends of the cable laying screw (207) are connected to the bearing baffle (210) through the cable laying screw bearing (205), the two ends of the guide shaft (208) are connected to the bearing baffle (210) through the guide bearing (204), and the cable laying device (209) is horizontally slidably connected to the cable laying screw (207).

6. The adaptive cable-laying in-situ seabed monitoring equipment system according to claim 5, characterized in that, The damping brake shaft (202) includes a rotating shaft (2021), a dynamic friction brake pad (2022), and a static friction brake pad (2023). The rotating shaft (2021) is fixed to the inner center of the cable storage drum (201) and protrudes outward from the spoke plate (2011) of the cable storage drum (201). The rotating shaft (2021) has dynamic friction brake pads (2022) at both ends and can rotate around the shaft with the cable storage drum (201). The static friction brake pad (2023) is welded to the bearing baffle (210).

7. The adaptive cable-laying in-situ seabed monitoring equipment system according to claim 1, characterized in that, The lower hydraulic limit wheel assembly (6) includes a fixed rod (601), a hydraulic cylinder body (602), a hydraulic rod (603), a clamping wheel (604), a connecting piece (605), a connecting block (606), an end cap (607), an oil hole (608), a rear connecting block (609), and a fixing hole (610). The fixed rod (601) is connected to the hydraulic cylinder body (602) through the rear connecting block (609) with the fixing hole (610). Oil holes (608) are arranged on the hydraulic cylinder body (602). The end cap (607) at the other end of the hydraulic cylinder body (602) is connected to the hydraulic rod (603). The hydraulic rod (603) is connected to the clamping wheel (604) through the connector (605) and the connecting block (606). The outer ring of the clamping wheel (604) has a groove, and the groove is padded with a rubber sheet for anti-slip. The upper hydraulic limit wheel set (5) and the lower hydraulic limit wheel set (6) have the same structure.

8. The adaptive cable-laying in-situ seabed monitoring equipment system according to claim 1, characterized in that, The upper frame (3) is provided with multiple upper frame sandproof plates (301) of the same size around its perimeter. The bottom of the upper frame (3) is an upper frame fixing plate (303). The upper frame (3) and the upper frame fixing plate (303) are also provided with symmetrically arranged upper frame supports (302).

9. The adaptive cable-laying in-situ seabed monitoring equipment system according to claim 1, characterized in that, The frame body (702) of the lower frame (7) is a square structure at the bottom and a trapezoidal structure at the top. The upper part of the square structure of the frame body (702) is provided with H-shaped steel cross bracing (701). The lower part of the lower frame (7) is also provided with two hydraulic limit wheel support plates (703). The four corners of the top of the frame body (702) are provided with four lifting rings (12).

10. A method for recovering an adaptive cable-laying in-situ seabed monitoring equipment system according to claim 1, characterized in that, Includes the following steps: Step 1: Equipment system deck preparation: Activate the electromagnet device to install the damping winch to the top of the upper protective frame, start the clamping motor to clamp the probe rod body and maintain a constant clamping force, use the penetration mechanism to drive the probe cone tip to the bottom of the lower frame and reset it flush with the frame, and then start the hydraulic cylinder in the upper and lower hydraulic limit wheel sets. Step 2: Power / Data Cable Installation: Start the damping winch to release the power / data cable, pull the cable vertically to the probe rod body, and connect it with a water-tight connector; Step 3: Installation of lifting cables: Pass the lifting cables of the shipborne / platform crane through the lifting rings on the lower frame, and merge the ends of the lifting cables into one and install it on the crane hook. Finally, lift the in-situ monitoring equipment to the water surface through the A-frame / shelter deck / moon pool to await lowering. Step 4: Equipment system lowering and seabed setting: Lower the equipment to the seabed at a constant speed using hoisting cables until the operating conditions are met; Step 5: Probe rod insertion and winch adaptive cable release: After the equipment is settled, start the insertion motor and, in conjunction with the commutator and steering gear, synchronously drive the insertion screw to rotate clockwise. This drives the clamping mechanism, which has already clamped the probe rod, to move downwards with the screw rotation for insertion. When the clamping mechanism moves downwards to above the lower hydraulic limit wheel set, drive the clamping motor to release the probe rod. The insertion motor synchronously drives the insertion screw to rotate counterclockwise, moving the clamping mechanism upwards to the reset position and driving the clamping motor to clamp the probe rod. Repeat the above operation to finally complete the insertion of the probe rod. Step Six: Damping Winch Release and Recovery: After the probe rod is inserted, activate the electromagnet separating the damping winch from the upper frame, causing the damping winch to separate from the upper frame. The damping winch completes the adaptive cable laying operation until it floats to the sea surface and stops laying the cable. Step 7: Monitoring Equipment Frame Structure Recovery: After the damping winch floats to the sea surface, it is placed on the platform / ship deck and secured. By lifting the hoisting cable through the lifting ring, the equipment frame is recovered upward along the cable through the limiting design of the limit wheel set. Step 8: In-situ monitoring on the seabed: The recovered damping winch will be disconnected from the cable and the cable will be transferred to a stable power interface and data receiving port for long-term in-situ monitoring.

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