Submarine cable burying system, method, electronic device, storage medium, and program product

Abstract

This invention relates to the field of submarine cable laying technology, and discloses a submarine cable laying system, method, electronic device, storage medium, and program product. The system includes: an intelligent sensing module for acquiring seabed topographic information and submarine cable information of the area to be laid; a digital twin control center module for constructing a three-dimensional dynamic model of the seabed and submarine cable based on the seabed topographic information and submarine cable information, determining the laying scheme based on the three-dimensional dynamic model, and sending execution instructions to the execution mechanism according to the laying scheme; and an execution mechanism for performing operations according to the execution instructions to complete the laying of the submarine cable. This invention first constructs a three-dimensional dynamic model of the seabed and submarine cable, iteratively optimizes the laying scheme using the three-dimensional dynamic model, making the laying scheme feasible and meeting the laying requirements, and further generates execution instructions based on the optimized scheme to guide the submarine cable laying construction, thereby improving the efficiency of submarine cable construction and the laying qualification rate.

Description

Technical Field

[0001] This invention relates to the field of submarine cable laying technology for offshore wind farms, specifically to submarine cable laying systems, methods, electronic devices, storage media, and program products. Background Technology

[0002] In offshore wind farms, submarine cables are mainly used to connect onshore islands, substations, and wind turbines. In recent years, large-capacity, multi-unit offshore wind farms in deep-sea areas have become a development trend. The characteristics of submarine cables, such as long length, large diameter, and no intermediate joints, make laying submarine cables many times more difficult than laying ordinary onshore cables.

[0003] Currently, submarine cable laying mainly employs two construction methods: burying with a plow and post-burial. Due to the complex and varied topography of the seabed, such as the presence of many areas with abrupt vertical changes, it is impossible to plan and formulate a reasonable cable laying scheme in advance. The laying process requires continuous adjustment of laying parameters, resulting in a long construction period. Furthermore, the laying parameters rely on manual judgment and adjustment of the laying effect, making the construction period highly susceptible to the influence of human experience. Summary of the Invention

[0004] This invention provides a submarine cable laying system, method, electronic device, storage medium, and program product to solve the problem of low cable laying efficiency.

[0005] In a first aspect, the present invention provides a submarine cable laying system, the system comprising: an intelligent sensing module for acquiring seabed topographic information and submarine cable information of the area where the submarine cable is to be laid; a digital twin control center module for using digital twin technology to construct a three-dimensional dynamic model of the seabed and submarine cable based on the seabed topographic information and submarine cable information, determining the laying scheme of the submarine cable based on the three-dimensional dynamic model, and sending execution instructions to the execution mechanism according to the laying scheme; and an execution mechanism for performing operations according to the execution instructions to complete the laying of the submarine cable.

[0006] The system provided in this invention performs simulation analysis and modeling on the data collected by the intelligent sensing module, constructs a three-dimensional dynamic model of the submarine cable and seabed, iteratively optimizes the laying parameters such as submarine cable route, bending radius and burial depth, and forms a submarine cable laying scheme. Only after the laying scheme is feasible and meets the laying requirements can the system further generate execution instructions based on the optimized scheme to guide the submarine cable laying construction, thereby improving the efficiency of submarine cable construction and the laying qualification rate.

[0007] In one optional implementation, the intelligent sensing module includes: a sonar for emitting sound waves toward the seabed to acquire seabed topographic images containing seabed topographic information and the burial depth of the submarine cable from the seabed surface to the top surface of the cable; a magnetic detector for scanning above the seabed and determining the three-dimensional position information of the submarine cable based on magnetic field distortion; an underwater robot for acquiring seabed surface image information and identifying the laying shape of the submarine cable on the seabed surface; and a positioning device set at different points on the submarine cable to acquire the three-dimensional position information of the submarine cable at different points.

[0008] In one optional implementation, the digital twin control center module includes: a model building submodule, used to simulate and analyze seabed topographic information and submarine cable information using digital twin technology, build a three-dimensional dynamic model of the seabed and submarine cable, and update the three-dimensional dynamic model at a preset frequency; a laying scheme determination submodule, used to iteratively optimize the submarine cable laying parameters based on the three-dimensional dynamic model, so that the submarine cable laying parameters meet preset conditions, and form a submarine cable laying scheme based on the optimized submarine cable laying parameters; and an instruction issuing submodule, used to determine the execution instructions of each actuator according to the submarine cable laying parameters, and issue the execution instructions to each actuator. The execution instructions are used to perform operations on the submarine cable or topography to ensure that the submarine cable meets the submarine cable laying parameters.

[0009] In one optional implementation, the model building submodule includes: a data processing unit for preprocessing the seabed topography information and submarine cable information collected by the intelligent sensing module and collecting effective data; and a model building unit for using digital twin technology to perform simulation analysis on the effective data, constructing a three-dimensional dynamic model of the seabed and submarine cable, and updating the three-dimensional dynamic model at a preset frequency.

[0010] In one optional implementation, the submarine cable laying parameters include the submarine cable route, bending radius, and burial depth. In the laying scheme, the submarine cable route is located within a preset coordinate range, the bending radius of each point of the submarine cable is greater than a preset radius threshold, and the burial depth of each point of the submarine cable is greater than a preset burial depth threshold. The preset radius threshold is determined based on the outer diameter of the submarine cable.

[0011] In an optional implementation, the system provided by this embodiment of the invention further includes: a closed-loop verification module. After the actuator performs the operation according to the execution instruction, the closed-loop verification module is used to determine whether the submarine cable laying parameters meet the preset conditions based on the current submarine cable information. If not, the current submarine cable information is sent to the digital twin control center module so that the digital twin control center module can update the submarine cable laying scheme in combination with the current submarine cable information.

[0012] Secondly, the present invention provides a method for laying submarine cables, comprising: acquiring seabed topographic information and submarine cable information of the area where the submarine cable is to be laid; using digital twin technology, constructing a three-dimensional dynamic model of the seabed and submarine cable based on the seabed topographic information and submarine cable information; determining a laying scheme for the submarine cable based on the three-dimensional dynamic model; and sending an execution instruction to an execution agency based on the laying scheme, so that the execution agency performs the operation according to the execution instruction to complete the laying of the submarine cable.

[0013] Thirdly, the present invention provides an electronic device, comprising: a memory and a processor, wherein the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes the computer instructions to perform the submarine cable laying method of the first aspect or any corresponding embodiment described above.

[0014] Fourthly, the present invention provides a computer-readable storage medium storing computer instructions for causing a computer to perform the submarine cable laying method described in the first aspect or any corresponding embodiment thereof.

[0015] Fifthly, the present invention provides a computer program product, including computer instructions for causing a computer to execute the submarine cable laying method described in the first aspect or any corresponding embodiment thereof. Attached Figure Description

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

[0017] Figure 1 This is a structural block diagram of a submarine cable laying system according to an embodiment of the present invention; Figure 2 This is a schematic flowchart of a submarine cable laying method according to an embodiment of the present invention; Figure 3 This is a schematic diagram of the hardware structure of an electronic device according to an embodiment of the present invention. Detailed Implementation

[0018] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0019] It is understood that before using the technical solutions disclosed in the various embodiments of the present invention, users should be informed of the types, scope of use, and usage scenarios of the personal information involved in the present invention and their authorization should be obtained in accordance with relevant laws and regulations through appropriate means.

[0020] According to an embodiment of the present invention, a submarine cable laying system embodiment is provided, such as... Figure 1 As shown, the system includes: The intelligent sensing module 101 is used to acquire seabed topographic information and submarine cable information of the area where the submarine cable is to be laid.

[0021] In one optional embodiment, during the pre-construction preparation process, the intelligent sensing module 101 first acquires seabed topographic information. During construction, the submarine cable can be laid using a "lay-then-buried" process, i.e., the cable-laying vessel first lays the cable onto the seabed, and then the trenching, cable burial, and backfilling are completed by actuators such as a trenching machine. Due to the influence of the seabed environment and the construction process, the seabed topography may change, and the position of the submarine cable may not be completely matched with the pre-set burial plan. Therefore, during construction, the intelligent sensing module 101 acquires seabed topographic information and submarine cable information in real time and sends the acquired information to the digital twin control center module 102 in real time, so that the digital twin control center module 102 can update the three-dimensional dynamic model in a timely manner, continuously optimize the burial plan, and adjust each actuator 103.

[0022] In one optional embodiment, the seabed topography information acquired by the intelligent sensing module 101 may include seabed landform images, and the submarine cable information may include the location coordinates, burial depth data, resistance signals, and images of the submarine cable being laid on the seabed at each point of the submarine cable.

[0023] The digital twin control center module 102 is used to construct a three-dimensional dynamic model of the seabed and submarine cable based on the seabed topography information and submarine cable information using digital twin technology, determine the submarine cable laying scheme based on the three-dimensional dynamic model, and send execution instructions to the execution mechanism 103 according to the laying scheme.

[0024] In one alternative embodiment, digital twin technology can be used to analyze seabed topography information and submarine cable information to construct a digital twin model.

[0025] In one optional embodiment, since the seabed topography and submarine cables are affected by the marine environment, a three-dimensional dynamic model can be constructed by combining marine environmental parameters. When using the three-dimensional dynamic model to simulate the burial scheme, the influence of the marine environment on the seabed topography and submarine cables can be taken into account, so that the simulated burial scheme is more realistic and easier to implement. For example, marine environmental parameters include water depth, tidal range, ocean current speed, wave height, ocean current direction, etc.

[0026] In one optional embodiment, the burial scheme includes burial parameters such as the horizontal position of the submarine cable at different points and the burial depth of the submarine cable at different points. The horizontal position of the submarine cable at different points needs to meet the predetermined submarine cable route constraints and minimum bending radius constraints, and the burial depth of the submarine cable at different points needs to meet the minimum burial depth constraints.

[0027] In one optional embodiment, an initial laying scheme can be generated based on submarine cable routing constraints, minimum bending radius constraints, and minimum burial depth constraints. The laying parameters in the initial laying scheme are input into a three-dimensional dynamic model, and the hardware parameters of the cable-laying vessel, trenching machine, and other actuators are associated to simulate the actual construction scenario. The simulation determines the required operating state of each actuator to achieve the initial laying scheme. For example, the operating state of each actuator includes the laying speed that the cable-laying vessel needs to achieve in different areas to adapt to the influence of ocean currents on the submarine cable trajectory, and the jetting pressure that the trenching machine needs to achieve to ensure that it excavates to the designed burial depth in different areas. If the hardware conditions of each actuator cannot support its required operating state, the laying parameters in the laying scheme need to be readjusted, and the laying speed, jetting pressure, and other parameters of each actuator are re-simulated using a digital twin model until the hardware conditions of each actuator can support the operating state required to achieve the laying scheme. Then, execution instructions are generated for each actuator based on the operating state required to achieve the laying scheme, and the corresponding execution instructions are sent to each actuator. For example, the maximum jetting pressure of the dredging machine can be determined based on its hardware parameters, and the sailing speed threshold of the cable-laying vessel can be determined based on its hardware parameters. If the laying speed required by the cable-laying vessel to achieve the burial scheme is greater than its sailing speed threshold, it is determined that its hardware conditions cannot support its required operating state. Similarly, if the jetting pressure required by the dredging machine to achieve the burial scheme is greater than its maximum jetting pressure, it is determined that its hardware conditions cannot support its required operating state. If the hardware conditions of any actuator cannot support its required operating state, the burial scheme needs to be readjusted.

[0028] The actuator 103 is used to carry out operations according to the execution instructions to complete the laying of the submarine cable.

[0029] In an optional embodiment, the actuator 103 includes a submarine cable laying plow, a trenching machine, a trenching machine, a cable laying vessel, etc.

[0030] The system provided in this embodiment of the invention performs simulation analysis and modeling on the data collected by the intelligent sensing module 101, constructs a three-dimensional dynamic model of the submarine cable and seabed, iteratively optimizes the laying parameters such as submarine cable route, bending radius and burial depth, and forms a submarine cable laying scheme. Only after the laying scheme is feasible and meets the laying requirements can the system further generate execution instructions based on the optimized scheme to guide the submarine cable laying construction, thereby improving the efficiency of submarine cable construction and the laying qualification rate.

[0031] In an optional embodiment, the intelligent sensing module 101 includes: Sonar is used to emit sound waves toward the seabed to obtain images of the seabed topography containing information about the seabed topography, as well as the burial depth of the submarine cable from the seabed surface to the top of the cable.

[0032] In one optional embodiment, the sonar includes a multibeam sonar, a side-scan sonar, and a shallow seismic profiling sonar. The side-scan sonar and the multibeam sonar emit sound waves toward the seabed and can form a seabed topographic image based on the intensity of the received echoes. Based on the seabed topographic image, trenches, reefs, protrusions, obstacles, etc., on the seabed can be identified. The shallow seismic profiling sonar emits sound waves downwards that can penetrate the surface sediment and identify the burial depth of the submarine cable from the seabed surface to the top surface of the submarine cable.

[0033] A magnetic detector is used to scan above the seabed and determine the three-dimensional location information of submarine cables based on magnetic field distortion.

[0034] In one optional embodiment, when the magnetic detector scans the location of the submarine cable, it will detect magnetic field distortion. Therefore, the horizontal position of the submarine cable can be identified based on the detected magnetic field distortion. Since the deeper the submarine cable is buried, the less obvious the distortion is, the burial depth of the submarine cable can also be identified based on the magnetic field distortion, thus providing the three-dimensional position information of the submarine cable.

[0035] In one optional embodiment, magnetic field distortion can also be detected when the magnetic detector scans other metals on the seabed. However, the special feature of submarine cables is that they are continuous. Therefore, when the magnetic detector detects a location where magnetic field distortion occurs, it can scan within a preset range of that location. If no other metals are detected within the preset range, the magnetic field distortion is not caused by the submarine cable. Conversely, if there is continuous magnetic field distortion within the preset range, it is determined that a submarine cable exists at the current location, thereby determining the three-dimensional location information of the submarine cable.

[0036] Underwater robots are used to acquire images of the seabed surface and identify the laying shape of submarine cables on the seabed surface.

[0037] In one optional embodiment, the underwater robot is equipped with an image acquisition device that can acquire image information of the seabed surface. By analyzing the image information of the seabed surface, the laying shape of the submarine cable on the seabed surface can be identified, and the bending radius of the submarine cable can be determined by the laying shape of the submarine cable.

[0038] The positioning device is set at different points on the submarine cable to obtain three-dimensional position information of the submarine cable at different points.

[0039] In one optional embodiment, the location information of the submarine cable can be obtained by analyzing the data collected by sonar, magnetometer, underwater robot and positioning device. In a specific embodiment, the data obtained from various channels can be combined to obtain more accurate location information.

[0040] In an optional embodiment, the intelligent sensing module 101 also includes a strain sensor deployed on the submarine cable. The strain sensor can measure the bending strain of the submarine cable and issue an alarm when the strain exceeds the standard to prevent damage to the submarine cable due to excessive strain.

[0041] In one optional embodiment, the digital twin control center module 102 includes a model building submodule, an installation scheme determination submodule, and an instruction issuance submodule.

[0042] The model building submodule is used to simulate and analyze seabed topographic information and submarine cable information using digital twin technology, build a three-dimensional dynamic model of the seabed and submarine cables, and update the three-dimensional dynamic model at a preset frequency.

[0043] In one optional embodiment, the model building submodule includes a data processing unit and a model building unit. The data processing unit is used to preprocess the seabed topography information and submarine cable information collected by the intelligent sensing module 101 and collect effective data. The model building unit is used to use digital twin technology to perform simulation analysis on the effective data, build a three-dimensional dynamic model of the seabed and submarine cable, and update the three-dimensional dynamic model at a preset frequency.

[0044] In an optional embodiment, when preprocessing the data collected by the intelligent sensing module 101, it is necessary to exclude interfering data and collect valid data. For example, to ensure the accuracy and reliability of data collection, the number of data points collected for a single location is ≥5, and the criteria for judging interfering data are as follows: L=∣D 实 -D 平 | / D 平 ×100% Where L is the deviation of the measured data, Dactual is the measured data, and Daverage is the average of all measured data. When L is greater than or equal to 30%, the measured data is determined to be interference data and needs to be excluded; the rest are valid data and enter the model construction submodule.

[0045] In one optional embodiment, the model building submodule updates the model at a frequency of ≥10Hz, which can better provide real-time feedback on the seabed topography and submarine cable conditions.

[0046] The submodule for determining the laying scheme is used to iteratively optimize the laying parameters of the submarine cable based on the three-dimensional dynamic model, so that the laying parameters of the submarine cable meet the preset conditions, and to form a laying scheme of the submarine cable based on the optimized laying parameters.

[0047] In one optional embodiment, the submarine cable laying parameters include the submarine cable route, bending radius, and burial depth. In the laying scheme, the submarine cable route is located within a preset coordinate range, the bending radius of each point of the submarine cable is greater than a preset radius threshold, and the burial depth of each point of the submarine cable is greater than a preset burial depth threshold. The preset radius threshold is determined based on the outer diameter of the submarine cable.

[0048] In one specific embodiment, the minimum bending radius can be set to 15 times the outer diameter of the submarine cable, and the burial depth can be no less than 3 meters.

[0049] The instruction issuing submodule is used to determine the execution instructions of each actuator 103 according to the submarine cable laying parameters, and to issue the execution instructions to each actuator 103. The execution instructions are used to perform operations on the submarine cable or terrain so that the submarine cable meets the submarine cable laying parameters.

[0050] In one optional embodiment, during actual construction, it was found that in some areas, the submarine cable's trajectory deviated from the designed submarine cable route after being cast due to the influence of seabed tides, and there were even points with excessively small bending radii. It was necessary to iteratively optimize the route according to the design route and the minimum bending radius requirements to formulate a reasonable submarine cable route to guide the submarine cable laying construction. In some areas, the seabed is irregular, and it is necessary to formulate a jet blasting scheme according to the burial depth requirements and the seabed topography to accelerate the laying speed while ensuring the burial depth.

[0051] In an optional embodiment, the system provided by the present invention further includes: The closed-loop verification module is used to determine whether the submarine cable laying parameters meet the preset conditions based on the current submarine cable information after the actuator 103 performs the operation according to the execution instructions. If not, the current submarine cable information is sent to the digital twin control center module 102 so that the digital twin control center module 102 can update the submarine cable laying plan based on the current submarine cable information.

[0052] Due to the influence of the seabed environment, there may be situations where the actuators 103 cannot carry out construction according to the execution instructions, or even if the actuators 103 carry out construction according to the execution instructions, the submarine cable may be deviated due to the influence of water currents, or the seabed may be severely eroded by seawater, causing the burial depth of the submarine cable to fail to meet the minimum burial depth requirements. Therefore, in this embodiment of the invention, after the actuators 103 carry out operations according to the execution instructions, they need to use the intelligent sensing module 101 again to obtain the current submarine cable information and determine whether the current submarine cable information meets the preset conditions. If it does not meet the conditions, the digital twin control center module 102 needs to determine the submarine cable burial scheme again to control the actuators 103 to adjust the submarine cable so that it meets the preset conditions.

[0053] This invention provides a method for laying submarine cables, such as... Figure 2 As shown, it includes: Step S201: Obtain seabed topography information and submarine cable information for the area where the submarine cable is to be laid.

[0054] Step S202: Construct a three-dimensional dynamic model of the seabed and submarine cable based on the seabed topography information and submarine cable information; determine the submarine cable laying scheme based on the three-dimensional dynamic model; and send execution instructions to the execution agency according to the laying scheme so that the execution agency can carry out the operation according to the execution instructions to complete the laying of the submarine cable.

[0055] For details, please refer to the corresponding embodiments above, which will not be repeated here.

[0056] Figure 3 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present invention.

[0057] The following is a detailed reference. Figure 3 The diagram illustrates a structural schematic suitable for implementing an electronic device according to embodiments of the present invention. The electronic device may include a processor (e.g., a central processing unit, graphics processor, etc.) 301, which can perform various appropriate actions and processes according to a program stored in read-only memory (ROM) 302 or a program loaded from memory 308 into random access memory (RAM) 303. The RAM 303 also stores various programs and data required for the operation of the electronic device. The processor 301, ROM 302, and RAM 303 are interconnected via a bus 304. An input / output (I / O) interface 305 is also connected to the bus 304.

[0058] Typically, the following devices can be connected to I / O interface 305: input devices 306 including, for example, touchscreens, touchpads, keyboards, mice, cameras, microphones, accelerometers, gyroscopes, etc.; output devices 307 including, for example, liquid crystal displays (LCDs), speakers, vibrators, etc.; memory devices 308 including, for example, magnetic tapes, hard disks, etc.; and communication devices 309. Communication device 309 allows electronic devices to communicate wirelessly or wiredly with other devices to exchange data. Although Figure 3 Electronic devices with various devices are shown, but it should be understood that it is not required to implement or have all of the devices shown, and more or fewer devices may be implemented or have instead.

[0059] In particular, according to embodiments of the present invention, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments of the present invention include a computer program product comprising a computer program carried on a non-transitory computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via a communication device 309, or installed from a memory 308, or installed from a ROM 302. When the computer program is executed by the processor 301, it performs the functions defined in the submarine cable laying method of the embodiments of the present invention.

[0060] Figure 3 The electronic device shown is merely an example and should not be construed as limiting the functionality and scope of use of the embodiments of the present invention.

[0061] This invention also provides a computer-readable storage medium. The methods described above according to embodiments of the invention can be implemented in hardware or firmware, or implemented as computer code that can be recorded on a storage medium, or implemented as computer code downloaded via a network and originally stored on a remote storage medium or a non-transitory machine-readable storage medium and then stored on a local storage medium. Thus, the methods described herein can be processed by software stored on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. The storage medium can be a magnetic disk, optical disk, read-only memory, random access memory, flash memory, hard disk, or solid-state drive, etc.; further, the storage medium can also include combinations of the above types of memory. It is understood that computers, processors, microprocessor controllers, or programmable hardware include storage components capable of storing or receiving software or computer code. When the software or computer code is accessed and executed by the computer, processor, or hardware, the submarine cable laying method shown in the above embodiments is implemented.

[0062] A portion of this invention can be applied as a computer program product, such as computer program instructions, which, when executed by a computer, can invoke or provide the methods and / or technical solutions according to the invention through the operation of the computer. Those skilled in the art will understand that the forms in which computer program instructions exist in a computer-readable medium include, but are not limited to, source files, executable files, installation package files, etc. Correspondingly, the ways in which computer program instructions are executed by a computer include, but are not limited to: the computer directly executing the instructions, or the computer compiling the instructions and then executing the corresponding compiled program, or the computer reading and executing the instructions, or the computer reading and installing the instructions and then executing the corresponding installed program. Here, the computer-readable medium can be any available computer-readable storage medium or communication medium accessible to a computer.

[0063] Although embodiments of the invention have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the invention, and such modifications and variations all fall within the scope defined by the appended claims.

Claims

1. A submarine cable laying system, characterized in that, The system includes: The intelligent sensing module is used to acquire seabed topography information and submarine cable information of the area where the submarine cable is to be laid; The digital twin control center module is used to construct a three-dimensional dynamic model of the seabed and submarine cable based on the seabed topography information and submarine cable information using digital twin technology, determine the submarine cable laying scheme based on the three-dimensional dynamic model, and send execution instructions to the execution mechanism based on the laying scheme. An actuator is used to perform operations according to the execution instructions to complete the laying of the submarine cable.

2. The system according to claim 1, characterized in that, The intelligent sensing module includes: Sonar is used to emit sound waves toward the seabed to obtain images of the seabed topography containing information about the seabed topography, as well as the burial depth of the submarine cable from the seabed surface to the top of the cable. A magnetic detector is used to scan above the seabed and determine the three-dimensional location information of submarine cables based on magnetic field distortion. Underwater robots are used to acquire images of the seabed surface and identify the laying shape of submarine cables on the seabed surface. A positioning device is installed at different points on the submarine cable to obtain three-dimensional position information of the submarine cable at different points.

3. The system according to claim 1 or 2, characterized in that, The digital twin control center module includes: The model building submodule is used to simulate and analyze the seabed topography information and submarine cable information using digital twin technology, build a three-dimensional dynamic model of the seabed and submarine cable, and update the three-dimensional dynamic model at a preset frequency. The submodule for determining the laying scheme is used to iteratively optimize the laying parameters of the submarine cable based on the three-dimensional dynamic model, so that the laying parameters of the submarine cable meet the preset conditions, and to form a laying scheme of the submarine cable based on the optimized laying parameters. The instruction issuing submodule is used to determine the execution instructions of each actuator according to the submarine cable laying parameters, and to issue the execution instructions to each actuator. The execution instructions are used to perform operations on the submarine cable or terrain so that the submarine cable meets the submarine cable laying parameters.

4. The system according to claim 3, characterized in that, The model construction submodule includes: The data processing unit is used to preprocess the seabed topography information and submarine cable information collected by the intelligent sensing module and collect effective data. The model building unit is used to simulate and analyze the effective data using digital twin technology, build a three-dimensional dynamic model of the seabed and submarine cables, and update the three-dimensional dynamic model at a preset frequency.

5. The system according to claim 3, characterized in that, The submarine cable laying parameters include the submarine cable route, bending radius, and burial depth. In the laying scheme, the submarine cable route is located within a preset coordinate range, the bending radius of each point of the submarine cable is greater than a preset radius threshold, and the burial depth of each point of the submarine cable is greater than a preset burial depth threshold. The preset radius threshold is determined based on the outer diameter of the submarine cable.

6. The system according to claim 3, characterized in that, Also includes: The closed-loop verification module is used to determine whether the submarine cable laying parameters meet preset conditions based on the current submarine cable information after the actuator performs the operation according to the execution instruction. If not, the current submarine cable information is sent to the digital twin control center module so that the digital twin control center module can update the submarine cable laying plan based on the current submarine cable information.

7. A method for laying submarine cables, characterized in that, include: Obtain seabed topography and submarine cable information for the area where the submarine cable will be laid; Using digital twin technology, a three-dimensional dynamic model of the seabed and submarine cable is constructed based on the seabed topography information and submarine cable information. The submarine cable laying scheme is determined based on the three-dimensional dynamic model, and an execution command is sent to the execution mechanism according to the laying scheme, so that the execution mechanism can carry out the operation according to the execution command to complete the laying of the submarine cable.

8. An electronic device, characterized in that, include: The system includes a memory and a processor, which are interconnected. The memory stores computer instructions, and the processor executes the computer instructions to perform the submarine cable laying method of claim 7.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions for causing the computer to execute the submarine cable laying method of claim 7.

10. A computer program product, characterized in that, Includes computer instructions, which are used to cause a computer to execute the submarine cable laying method of claim 7.

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