Underwater cable intelligent laying equipment and method

Abstract

The invention belongs to the field of cable laying, and particularly relates to intelligent laying equipment and method for underwater cables, the intelligent laying equipment for the underwater cables drives a ditching and burying device to move automatically underwater through a crawler so as to realize ditching and cable burying, the maneuverability is high, and the flexibility is high. One side of a frame of the crawler is hinged to a wheel carrier of one crawler module, the other side of the frame of the crawler is connected with a wheel carrier of the other crawler module through two adjusting oil cylinders, angle sensors are arranged at the four corners of the frame respectively, and the two adjusting oil cylinders are matched with the four angle sensors to adjust the posture of the whole crawler so as to adapt to complex marine geological conditions. The cable embedding depth is prevented from being substandard or the cable cannot be embedded and is exposed due to deflection of the jet cutter and the cable pressing device, and the operation quality can be improved. According to the underwater cable laying method, shallow bottom obstacles encountered in laying can be avoided on the basis of guaranteeing the laying depth of the underwater cable according to underwater terrain fluctuation, and safe and intelligent laying of the cable is achieved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of cable laying, in particular to an underwater cable intelligent laying device and method. BACKGROUND

[0002] The underwater trenching cable burying device can be used for underwater (river bottom / jiang bottom / sea bottom) pipe cable burying. The existing cable burying methods in China mostly need auxiliary ships to pull the burying plow to bury the submarine cable, and high-pressure water to flush out the trench on the water bottom for burying operation. When the water bottom is flat and the flow field is stable, the pulling force of the ship is relatively stable. However, the underwater environment is complex and changeable, and the burying device is easily affected by the change of the water bottom topography and the water flow during the trenching and cable burying process, which may cause position deviation or overturning, and there is a great safety hazard.

[0003] In addition, the vehicle frame of some cable intelligent laying devices is directly connected with the track in a whole structure. When the device is used on a cross-slope river bed or sea bottom, the vehicle body posture cannot be adjusted according to the size of the cross-slope, the structural environment adaptability is not strong, the plow cannot be adjusted according to the river bed topography, the ditching efficiency is low, and the cable burying depth reliability is poor. SUMMARY

[0004] Therefore, the present application provides an underwater cable intelligent laying device and method, which aims to improve the mobility, adaptability and flexibility of underwater operation, and can adjust the posture of the whole vehicle to adapt to different sea beds and sea bottom surfaces.

[0005] In order to solve the above technical problems, the technical scheme used by the present application is:

[0006] The underwater cable intelligent laying device provided by the present application comprises a cable laying track vehicle, two adjusting oil cylinders and two track modules. The track module comprises a wheel frame, a driving wheel, a driven wheel, a track and a hydraulic motor. The driving wheel and the driven wheel are arranged on the wheel frame at intervals. The track is arranged between the driving wheel and the driven wheel. The hydraulic motor is connected with the driving wheel to drive the driving wheel to rotate. One side of the vehicle frame is hinged with the wheel frame of one of the track modules. The other side of the vehicle frame is connected with the wheel frame of the other track module through the two adjusting oil cylinders.

[0007] Four angle sensors are arranged at four corners of the vehicle frame respectively to detect the deflection degree of the vehicle frame in front, back, left and right directions.

[0008] The trenching and burying device comprises a jetting cutter, a cable pressing device, a first lifting assembly, a second lifting assembly, a third lifting assembly and a pipeline detection system (TSS) arranged on the vehicle frame for detecting the trenching depth; the first lifting assembly is arranged at the rear end of the vehicle frame, the second lifting assembly and the third lifting assembly are both mounted on the first lifting assembly and are driven to lift or lower by the first lifting assembly; the jetting cutter is mounted on the second lifting assembly and can be lifted or lowered by the second lifting assembly; the cable pressing device is mounted on the third lifting assembly and can be lifted or lowered by the third lifting assembly.

[0009] Preferably, the first lifting assembly comprises an L-shaped connecting rod, a supporting rod, a mounting frame, a retractable frame and a platform retracting oil cylinder; the L-shaped connecting rod is mounted on the vehicle frame; the L-shaped connecting rod, the supporting rod, the mounting frame and the retractable frame are sequentially hinged to form a quadrilateral connecting rod mechanism; one end of the platform retracting oil cylinder is hinged to the turning part of the L-shaped connecting rod, and the other end is hinged to the supporting rod; the quadrilateral connecting rod mechanism is deformed by the extension and retraction of the platform retracting oil cylinder, so as to drive the mounting frame to lift or lower; the second lifting assembly is connected to the mounting frame.

[0010] Further preferably, the second lifting assembly comprises a water jet control oil cylinder and a retractable arm; one end of the retractable arm is hinged to the mounting frame, and the other end is hinged to the water jet control oil cylinder; the other end of the water jet control oil cylinder is hinged to the mounting frame; the water jet control oil cylinder, the retractable arm and the mounting frame form a triangular structure; the jetting cutter has two hinged seats, and the two hinged seats are respectively hinged to the two ends of the retractable arm; the water jet control oil cylinder drives the retractable arm to lift or lower, so as to drive the jetting cutter to lift or lower.

[0011] Further preferably, the third lifting assembly comprises a cable pressing oil cylinder and a cable pressing arm; one end of the cable pressing arm is hinged to the mounting frame, and the other end is hinged to the cable pressing oil cylinder; the other end of the cable pressing oil cylinder is hinged to the mounting frame; the cable pressing oil cylinder, the cable pressing arm and the mounting frame form a triangular structure; the cable pressing device is mounted on the cable pressing arm; the cable pressing oil cylinder drives the cable pressing arm to lift or lower, so as to drive the cable pressing device to lift or lower.

[0012] Further preferably, the trenching and burying device further comprises a submersible pump, a hydraulic motor, a closed pump and an underwater motor arranged on the vehicle frame, the water outlet of the submersible pump is connected to the water inlet of the jetting cutter, the jetting port of the jetting cutter is provided with a pressure sensor and a water flow speed sensor, the output shaft of the underwater motor is connected to the closed pump through a shaft coupling, the outlet of the closed pump is connected to the inlet of the hydraulic motor, and the hydraulic motor is connected to the submersible pump for driving the submersible pump to output high-pressure water jet.

[0013] Another object of the present application is to provide an underwater cable laying method based on the underwater cable intelligent laying device described above, the underwater cable laying method comprising the following steps:

[0014] S1. placing the underwater cable intelligent laying device on the seabed and above the target cable;

[0015] S2. adjusting the stability of the vehicle frame through two adjusting oil cylinders so that the angle values detected by the four angle sensors are consistent;

[0016] S3. controlling the cable laying tracked vehicle to travel at a preset working speed in the direction in which the target cable extends;

[0017] S4. determining whether the water jet pressure is greater than or equal to 2 MPa through the pressure sensor at the jetting port of the jetting cutter, if yes, controlling the cable laying tracked vehicle to travel at a preset adjustment speed, and controlling the rod cavity and the rodless cavity of the water jet control oil cylinder to be communicated, the water jet control oil cylinder is floating, and then returning to step S3; if no, entering step S5;

[0018] S5. controlling the cable laying tracked vehicle to travel at a preset adjustment speed, and controlling the rod cavity of the water jet control oil cylinder to output oil and the rodless cavity to input oil;

[0019] S6. determining whether the target trenching depth is reached through the TSS, if no, returning to step S5; if yes, entering step S7;

[0020] S7. controlling the water jet control oil cylinder to be locked, and the cable laying tracked vehicle travels forward at a preset working speed;

[0021] S8. determining whether the work is completed, if yes, ending; if no, returning to step S3.

[0022] Preferably, step S1 comprises:

[0023] The underwater cable intelligent laying device is transported to a construction sea area by a support mother ship, the underwater cable intelligent laying device is hoisted to the underwater by a ship hoist device arranged on the support mother ship, and the underwater cable intelligent laying device is searched by a TSS, a sonar, an inertial navigation, an ultra-short baseline positioning system (USBL) and a route map carried by the underwater cable intelligent laying device;

[0024] After the target cable is found, the underwater cable intelligent laying device is lowered to a preset interval above the target cable, and then a propeller arranged on the cable laying crawler is started to make the bow direction of the underwater cable intelligent laying device consistent with the direction of the target cable.

[0025] The underwater cable intelligent laying device is lowered, and a cable gripper is lowered to grab the target cable, and the pitch angles of the jet knives and the cable presser are adjusted according to the diameter of the target cable, specifically, the jet knives are lowered to contact the seabed and the width of the jet knives is adjusted to ensure that the target cable is between the two jet knives, and the cable presser is lowered to press the target cable.

[0026] Further preferably, the preset interval is 1 m to 2 m.

[0027] Preferably, between steps S2 and S3, the following steps are further included:

[0028] S9. The underwater cable intelligent laying device is controlled to travel along the extension direction of the target cable, a submersible pump is started, and the jet knives are inserted into the seabed to perform a trial slope operation.

[0029] The underwater cable intelligent laying device has the following beneficial effects compared with the prior art:

[0030] The underwater cable intelligent laying device can realize ditching and cable burying by moving on the seabed by the cable laying crawler, and has high maneuverability and flexibility. The frame of the cable laying crawler is connected to the wheel frames of the two crawler modules through two adjusting oil cylinders, and an angle sensor is arranged at each corner of the frame, so that the attitude of the whole vehicle can be adjusted by the two adjusting oil cylinders and the four angle sensors to adapt to complex marine geological conditions, improve the operation quality, and avoid the inclination of the jet knives and the cable presser, which can cause the cable burying depth to be insufficient or the cable to be exposed or the trench to be too deep, thereby reducing the operation efficiency.

[0031] The underwater cable laying method has the following beneficial effects compared with the prior art:

[0032] The underwater cable laying method can avoid shallow bottom obstacles encountered during laying on the basis of ensuring the laying depth of the underwater cable, and realize safe and intelligent laying of the cable. BRIEF DESCRIPTION OF DRAWINGS

[0033] The above and other objects, features and advantages of the present application will become more clearly understood from the following detailed description taken in conjunction with the accompanying drawings, in which:

[0034] Figure 1 is a schematic diagram of the underwater cable laying by the underwater cable intelligent laying device shown in the embodiments of the present application;

[0035] Figure 2 is a schematic diagram of the underwater cable intelligent laying device shown in the embodiments of the present application;

[0036] Figure 3 is a schematic diagram of the underwater cable intelligent laying device shown in the embodiments of the present application;

[0037] Figure 4 is a schematic diagram of the jetting knife in the underwater cable intelligent laying device shown in the embodiments of the present application;

[0038] Figure 5 is a schematic diagram of the trenching and burying device in the underwater cable intelligent laying device shown in the embodiments of the present application;

[0039] Figure 6 is a control principle diagram of the closed pump and the hydraulic motor in the underwater cable intelligent laying device shown in the embodiments of the present application;

[0040] Figure 7 is an output curve diagram of the closed pump in the underwater cable intelligent laying device shown in the embodiments of the present application;

[0041] Figure 8 is a working flowchart of the underwater cable intelligent laying device shown in the embodiments of the present application.

[0042] Reference Signs:

[0043] 10, support ship;

[0044] 20, target cable;

[0045] 30, umbilical cable;

[0046] 100, cable laying crawler; 110, frame; 120, adjusting oil cylinder; 130, crawler module; 131, wheel frame; 132, crawler; 133, propeller;

[0047] 200, trenching device; 210, jetting knife; 211, jetting port; 220, cable presser; 230, first lifting assembly; 231, L-shaped connecting rod; 232, support rod; 233, mounting frame; 234, retractable frame; 235, platform retracting cylinder; 240, second lifting assembly; 241, water jet control cylinder; 242, retractable arm; 250, third lifting assembly; 251, cable pressing cylinder; 252, cable pressing arm; 260, TSS; 270, submersible pump; 280, hydraulic motor; 290, closed pump; 2100, underwater motor; 2110, water jet control cylinder. DETAILED DESCRIPTION

[0048] The technical solutions of the present application will be further described in detail below in combination with the drawings and specific embodiments, so that those skilled in the art can better understand the present application and implement it. However, the embodiments are not intended to limit the present application. In the embodiments, it should be understood that the terms "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship shown in the drawings, and are only for the purpose of describing the present application, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0049] It should be noted that when an element is considered to be "connected" to another element, it can be directly connected to the other element and integrated as a whole, or there can be a middle element. The terms "mounting", "one end", "the other end" and the like used in the present application are only for the purpose of illustration.

[0050] The embodiments of the present application provide an underwater cable intelligent laying device. Unlike the current popular surface ship traction burying plow laying, the present application directly aims at the cable laid on the seabed or riverbed and performs backflush burying, such as Figures 1 to 3As shown, the underwater cable laying intelligent equipment includes a cable laying tracked vehicle 100, four angle sensors (not shown in the figure), and a trenching and burying device 200. The cable laying tracked vehicle 100 includes a frame 110, two adjusting cylinders 120, and two track modules 130. Each track module 130 includes a wheel frame 131, a drive wheel, a driven wheel, a track 132, and a hydraulic motor 280. The drive wheel and driven wheel are spaced apart on the wheel frame 131, and the track 132 is wound between the drive wheel and driven wheel. The hydraulic motor 280 is connected to the drive wheel to drive its rotation. One side of the frame 110 is hinged to the wheel frame 131 of one of the track modules 130, and the other side of the frame 110 is connected to the wheel frame 131 of the other track module 130 via two adjusting cylinders 120 (specifically, the cylinder body of the adjusting cylinder 120 is fixedly connected to the frame 110, and the piston rod is hinged to the wheel frame 131). The four angle sensors are respectively... The four corners of the frame 110 are used to detect the degree of tilt of the frame 110 in all directions. The trenching and burying device 200 includes a spraying blade 210, a cable clamp 220, a first lifting assembly 230, a second lifting assembly 240, a third lifting assembly 250, and a TSS 260. The TSS 260 is mounted on the frame 110 and is used to detect the trenching depth. The first lifting assembly 230 is located at the rear end of the frame 110. The second lifting assembly 240 and the third lifting assembly 250 are both mounted on the first lifting assembly 230. The second lifting assembly 240 and the third lifting assembly 250 are raised and lowered under the drive of the first lifting assembly 230. The spraying blade 210 is mounted on the second lifting assembly 240 and can be raised or lowered under the drive of the second lifting assembly 240. Figure 4 As shown, the spray blade 210 is provided with multiple spray nozzles 211; the cable clamp 220 is installed on the third lifting assembly 250 and can be lifted or lowered under the drive of the third lifting assembly 250.

[0051] It should be noted that during the operation of this intelligent underwater cable laying equipment, if... Figure 1 As shown, the underwater cable intelligent laying equipment is connected to the support mother ship 10 on the water surface via an umbilical cable 30. The support mother ship 10 is equipped with a PLC controller (not shown in the figure), which processes the information collected by each sensor according to the control logic diagram. The PLC controller is placed on the support mother ship 10 on the water surface for easy debugging and troubleshooting. The underwater cable intelligent laying equipment is also powered through the umbilical cable 30.

[0052] In this embodiment, the underwater cable laying intelligent equipment uses a cable laying tracked vehicle 100 to drive the trenching and burying device 200 to move autonomously on the seabed. Trenching and cable burying are achieved through the cooperation of the spraying blade 210 and the cable presser 220, resulting in high mobility and flexibility. The frame 110 of the cable laying tracked vehicle 100 is connected to the wheel frames 131 of the two track modules 130 via two adjusting cylinders 120. Angle sensors are installed at the four corners of the frame 110, allowing the vehicle to adjust its posture on sloping and transverse riverbeds using the two adjusting cylinders 120 and the four angle sensors to adapt to complex marine seabed conditions. This improves the quality of the work and prevents the spraying blade and cable presser from being misaligned, which could lead to insufficient cable burial depth, easy exposure, or excessively deep trenching, resulting in low work efficiency.

[0053] In this embodiment, the underwater cable laying equipment maintains consistent angle detection values ​​from the angle sensors at the front left and front right positions, and from the rear left and rear right positions, by adjusting two adjusting cylinders 120 when traveling on slopes and cross slopes. The average value of the angle sensor readings from the front right and rear right positions is used to control the extension / retraction of the first lifting assembly 230 (platform retraction cylinder 235 in the following embodiment) to adjust the trenching depth. The two angle sensors are of the same model and detect the skewness of the cable laying tracked vehicle 100 in all directions, providing different adjustment strategies based on the degree of skewness. For example, if the left angle is greater than the right angle, the adjusting cylinder 120 extends until the angle detection values ​​on both sides are consistent.

[0054] In one embodiment, such as Figure 5 As shown, the first lifting assembly 230 includes an L-shaped connecting rod 231, a support rod 232, a mounting frame 233, a retraction frame 234, and a platform retraction cylinder 235. The L-shaped connecting rod 231 is mounted on the vehicle frame 110. The L-shaped connecting rod 231, the support rod 232, the mounting frame 233, and the retraction frame 234 are sequentially hinged to each other to form a quadrilateral linkage mechanism. One end of the platform retraction cylinder 235 is hinged to the turning point of the L-shaped connecting rod 231, and the other end is hinged to the support rod 232. The quadrilateral linkage mechanism is deformed by the extension and retraction of the platform retraction cylinder 235, thereby driving the mounting frame 233 to rise and fall. The second lifting assembly 240 is connected to the mounting frame 233. The rise and fall of the mounting frame 233 drives the second lifting assembly 240 to rise and fall, thereby initially adjusting the pitch angle of the spray blade 210 and the cable clamp 220.

[0055] In one specific embodiment, see further. Figure 5The second lifting assembly 240 includes a water jet control cylinder 241 and a retractable arm 242. One end of the retractable arm 242 is hinged to the mounting bracket 233, and the other end is hinged to the water jet control cylinder 241. The other end of the water jet control cylinder 241 is hinged to the mounting bracket 233. The water jet control cylinder 241, the retractable arm 242, and the mounting bracket 233 form a triangular structure. The spray blade 210 has two hinge seats, which are respectively hinged to both ends of the retractable arm 242. The extension and retraction of the water jet control cylinder 241 drives the retractable arm 242 to rise and fall, thereby raising or lowering the spray blade 210. The pitch angle of the spray blade 210 can be finely adjusted by the water jet control cylinder 241.

[0056] In one specific embodiment, see further. Figure 5 The third lifting assembly 250 includes a cable clamping cylinder 251 and a cable clamping arm 252. One end of the cable clamping arm 252 is hinged to the mounting frame 233, and the other end is hinged to the cable clamping cylinder 251. The other end of the cable clamping cylinder 251 is hinged to the mounting frame 233. The cable clamping cylinder 251, the cable clamping arm 252, and the mounting frame 233 form a triangular structure. The cable clamp 220 is mounted on the cable clamping arm 252. The extension and retraction of the cable clamping cylinder 251 drives the cable clamping arm 252 to rise and fall, thereby causing the cable clamp 220 to rise or fall. The pitch angle of the cable clamp 220 can be finely adjusted by the cable clamping cylinder 251.

[0057] In a further specific embodiment, such as Figure 3 As shown, the trenching and burying device 200 also includes a submersible pump 270, a hydraulic motor 280, a closed-loop pump 290, and an underwater motor 2100 mounted on the frame 110. The submersible pump 270 is a commonly selected jet pump in the art. The outlet of the submersible pump 270 is connected to the inlet of the jetting blade 210. The jetting nozzle 211 of the jetting blade 210 is equipped with a pressure sensor and a water flow velocity sensor. The detected pressure and flow velocity signals are fed back to the PLC controller as electrical signals. The output shaft of the underwater motor 2100 is connected to the closed-loop pump 290 via a coupling. The outlet of the closed-loop pump 290 is connected to the inlet of the hydraulic motor 280. The hydraulic motor 280 is connected to the submersible pump 270 to drive the submersible pump 270 to output a high-pressure water jet. According to practical statistics, the jetting pressure of the high-pressure water jet is typically between 1 MPa and 2 MPa.

[0058] The underwater motor 2100 drives the closed pump 290, which in turn drives the hydraulic motor 280 at constant power. The hydraulic motor 280 then drives the submersible pump 270. This design allows for the adjustment of the water spray pressure.

[0059] Combination Figure 6As shown, the closed-loop pump 290 can be either an integrated replenishing pump or an external replenishing pump. Coils Y1 and Y2 control the displacement of the closed-loop pump 290, i.e., the output flow rate. Y3 is used to determine the angle sensor value to control whether the hydraulic motor 280 starts, thereby controlling the submersible pump 270 to spray water. When the angle sensor value is consistent, the solenoid valve reverses. Y4 is used to determine whether the water spray hydraulic oil pressure reaches 2 MPa, thereby controlling whether the water jet control cylinder 2110 floats. When it exceeds 2 MPa, the solenoid valve reverses. In the floating state, the rod-side and rodless-side chambers of the water jet control cylinder 2110 are connected.

[0060] Figure 7 The output curve of the closed-loop pump 290 shows that the output oil pressure is constant when the pressure is below the horizontal power variable point. When the flow rate is above this point, the output pressure of the closed-loop pump 290 decreases with the increase of the flow rate, while the power of the closed-loop pump 290 remains unchanged, thus achieving constant power operation.

[0061] Furthermore, this application also provides an embodiment of an underwater cable laying method, based on the intelligent underwater cable laying device described in the above embodiment, combined with... Figure 1 and Figure 8 As shown, the underwater cable laying method includes the following steps:

[0062] S1. Place the underwater cable intelligent laying equipment on the seabed and above the target cable 20;

[0063] In a specific embodiment, the underwater cable intelligent laying equipment is transported to the construction sea area by the support mother ship 10. The underwater cable intelligent laying equipment is lifted into the water by the ship crane equipment configured on the support mother ship 10. The cable is located by a combination of means such as TSS, sonar, inertial navigation, ultra-short baseline positioning system (USBL) and routing map carried by the underwater cable intelligent laying equipment itself.

[0064] After locating the target cable 20, the underwater cable intelligent laying equipment is hoisted to a preset distance directly above the target cable 20. The preset distance is usually 1m to 2m. Then, the thruster 133 installed on the cable laying tracked vehicle 100 is activated to make the bow of the underwater cable intelligent laying equipment consistent with the direction of the target cable 20.

[0065] The underwater cable intelligent laying equipment is slowly lowered, and the cable grabber is lowered to grab the target cable 20. At the same time, the pitch angle of the jet blade 210 and the cable presser 220 is adjusted according to the diameter of the target cable 20. Specifically, the jet blade 210 is lowered to contact the seabed and the width of the jet blade 210 is adjusted to ensure that the target cable 20 is between the two jet blades 210. The cable presser 220 is then lowered to press the target cable 20.

[0066] S2. The stability of the frame 110 is adjusted by two adjusting cylinders 120 to make the angle values ​​detected by the four angle sensors consistent;

[0067] S3. Control the cable laying tracked vehicle 100 to travel along the extension direction of the target cable 20 at a preset operating speed;

[0068] S4. Determine whether the water spray pressure is greater than or equal to 2MPa by the pressure sensor at the spray nozzle of the spray knife 210. If yes, control the cable laying tracked vehicle 100 to decelerate to the preset adjustment speed and control the rod chamber and rodless chamber of the water knife control cylinder 2110 to connect, so that the water knife control cylinder 2110 floats, and then return to step S3; if no, proceed to step S5.

[0069] S5. Control the cable laying tracked vehicle 100 to travel at a preset adjusted speed, and control the oil cylinder 2110 to discharge oil from the rod chamber and inhale oil from the rodless chamber.

[0070] S6. Check whether the target trenching depth has been reached using TSS. If not, return to step S5; if yes, proceed to step S7.

[0071] S7. Control and lock the water jet control cylinder 2110. The cable laying tracked vehicle 100 moves forward at a preset working speed. Usually, after moving forward for 10m to 20m and testing the trenching operation to ensure it is smooth, the simultaneous trenching and cable laying operation can begin.

[0072] S8. Determine if the task is completed. If yes, end the task; otherwise, return to step S3.

[0073] The underwater cable laying method of the present invention can avoid shallow obstacles encountered during the laying process while ensuring the laying depth of the underwater cable, based on the undulation of the underwater terrain, thus achieving safe and intelligent cable laying.

[0074] In a preferred embodiment, the method further includes the following steps between S2 and S3:

[0075] S9. Control the underwater cable intelligent laying equipment to move along the extension direction of the target cable 20, start the submersible pump 270, and insert the jet knife 210 into the seabed to carry out trial slope construction to debug the operation of each device and ensure the operation effect. The trial slope construction distance is usually 10m to 20m.

[0076] In this specification, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0077] In the description of this specification, the references to terms such as "preferred embodiment," "another embodiment," "other embodiment," or "specific example," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in a suitable manner in any one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0078] Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of this application.

Claims

1. An intelligent underwater cable laying device, characterized in that, include: A tracked cable laying vehicle includes a frame, two adjusting cylinders, and two track modules. Each track module includes a wheel frame, a drive wheel, a driven wheel, a track, and a hydraulic motor. The drive wheel and the driven wheel are spaced apart on the wheel frame, and the track is wound between the drive wheel and the driven wheel. The hydraulic motor is connected to the drive wheel to drive its rotation. One side of the frame is hinged to the wheel frame of one of the track modules, and the other side of the frame is connected to the wheel frame of the other track module through the two adjusting cylinders. Four angle sensors are respectively set at the four corners of the frame to detect the degree of tilt of the frame in the front, back, left, and right directions; as well as, The trenching and burying device includes a spraying blade, a cable presser, a first lifting assembly, a second lifting assembly, a third lifting assembly, and a pipeline detection system (TSS). The TSS is mounted on the vehicle frame and is used to detect the trench depth. The first lifting assembly is located at the rear end of the vehicle frame. The second and third lifting assemblies are both mounted on the first lifting assembly and are raised and lowered under the drive of the first lifting assembly. The spraying blade is mounted on the second lifting assembly and can be raised or lowered under the drive of the second lifting assembly. The cable presser is mounted on the third lifting assembly and can be raised or lowered under the drive of the third lifting assembly.

2. The intelligent underwater cable laying equipment according to claim 1, characterized in that: The first lifting assembly includes an L-shaped connecting rod, a support rod, a mounting frame, a retraction frame, and a platform retraction cylinder. The L-shaped connecting rod is mounted on the vehicle frame. The L-shaped connecting rod, the support rod, the mounting frame, and the retraction frame are sequentially hinged to each other to form a quadrilateral linkage mechanism. One end of the platform retraction cylinder is hinged to the turning point of the L-shaped connecting rod, and the other end is hinged to the support rod. The quadrilateral linkage mechanism is deformed by the extension and retraction of the platform retraction cylinder, thereby driving the mounting frame to rise and fall. The second lifting assembly is connected to the mounting frame.

3. The intelligent underwater cable laying equipment according to claim 2, characterized in that: The second lifting assembly includes a water jet control cylinder and a retractable arm. One end of the retractable arm is hinged to the mounting frame, and the other end is hinged to the water jet control cylinder. The other end of the water jet control cylinder is hinged to the mounting frame. The water jet control cylinder, the retractable arm, and the mounting frame form a triangular structure. The spray blade has two hinge seats, which are respectively hinged to both ends of the retractable arm. The extension and retraction of the water jet control cylinder drives the retractable arm to rise and fall, thereby causing the spray blade to be raised or lowered.

4. The intelligent underwater cable laying equipment according to claim 2, characterized in that: The third lifting assembly includes a cable pressing cylinder and a cable pressing arm. One end of the cable pressing arm is hinged to the mounting frame, and the other end is hinged to the cable pressing cylinder. The other end of the cable pressing cylinder is hinged to the mounting frame. The cable pressing cylinder, the cable pressing arm, and the mounting frame form a triangular structure. The cable presser is mounted on the cable pressing arm. The extension and retraction of the cable pressing cylinder drives the cable pressing arm to rise and fall, thereby causing the cable presser to lift or lower.

5. The intelligent underwater cable laying equipment according to claim 3, characterized in that: The trenching and burying device also includes a submersible pump, a hydraulic motor, a closed-loop pump, and an underwater motor mounted on the vehicle frame. The outlet of the submersible pump is connected to the inlet of the jetting blade. The jetting blade is equipped with a pressure sensor and a water flow velocity sensor at its nozzle. The output shaft of the underwater motor is connected to the closed-loop pump via a coupling. The outlet of the closed-loop pump is connected to the inlet of the hydraulic motor. The hydraulic motor is connected to the submersible pump and is used to drive the submersible pump to output a high-pressure water jet for jetting.

6. A method for laying underwater cables, based on the intelligent underwater cable laying equipment described in claim 5, characterized in that, The underwater cable laying method includes the following steps: S1. Place the underwater cable intelligent laying device on the bottom of the water and position it above the target cable; S2. The stability of the frame is adjusted by two adjusting cylinders to make the angle values ​​detected by the four angle sensors consistent; S3. Control the cable laying tracked vehicle to travel along the extension direction of the target cable at a preset operating speed; S4. Determine whether the water spray pressure is greater than or equal to 2MPa by the pressure sensor at the spray nozzle of the spray knife. If yes, control the cable laying tracked vehicle to decelerate to the preset adjustment speed and control the rod chamber and rodless chamber of the water jet control cylinder to connect, so that the water jet control cylinder floats, and then return to step S3; if no, proceed to step S5. S5. Control the cable laying tracked vehicle to travel at a preset adjusted speed, and control the rod chamber of the water jet control cylinder to discharge oil and the rodless chamber to receive oil; S6. Detect whether the target trenching depth has been reached using the TSS. If not, return to step S5; if yes, proceed to step S7. S7. Control and lock the water jet control cylinder, and the cable laying tracked vehicle moves forward at a preset working speed; S8. Determine if the task is completed. If yes, end the task; otherwise, return to step S3.

7. The underwater cable laying method according to claim 6, characterized in that, Step S1 includes: The underwater cable intelligent laying equipment is transported to the construction sea area by a support mother ship. The underwater cable intelligent laying equipment is hoisted underwater by the ship crane equipment configured on the support mother ship. The cable is located by a combination of means such as TSS, sonar, inertial navigation, ultra-short baseline positioning system (USBL) and routing map carried by the underwater cable intelligent laying equipment itself. After locating the target cable, the underwater cable intelligent laying equipment is hoisted to a preset distance directly above the target cable. Then, the thruster installed on the cable laying tracked vehicle is activated to align the bow of the underwater cable intelligent laying equipment with the direction of the target cable. The underwater cable intelligent laying equipment is lowered, and the cable grabber is lowered to grab the target cable. At the same time, the pitch angle of the jetting blade and the cable clamping device is adjusted according to the diameter of the target cable. Specifically, the jetting blade is lowered to contact the seabed and the width of the jetting blade is adjusted to ensure that the target cable is between the two jetting blades. The cable clamping device is then lowered to clamp the target cable.

8. The underwater cable laying method according to claim 6, characterized in that, Between steps S2 and S3, the following is also included: S9. Control the underwater cable intelligent laying equipment to move along the extension direction of the target cable, start the submersible pump, and insert the jet knife into the seabed to carry out trial slope creation operation.

9. The underwater cable laying method according to claim 7, characterized in that: The preset spacing is 1m to 2m.

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