A riprap deployment system and method for submarine cable protection

Abstract

The embodiment of the application provides a riprap throwing system and method for submarine cable protection, and belongs to the technical field of cable protection. The system comprises a dynamic positioning ship, a rockfall passage and an underwater robot, the underwater robot is provided with a plurality of multi-beam devices, and the dynamic positioning ship is connected with the underwater robot through the rockfall passage; the dynamic positioning ship is used for tracking and driving the submarine cable and transmitting the stone to the rockfall passage; the rockfall passage is used for transmitting the stone to the underwater robot; the underwater robot is used for scanning and measuring the submarine environment through the multi-beam device, determining the position deviation of the stone throwing, adjusting the position of the dynamic positioning ship according to the position deviation, and throwing the stone above the position of the submarine cable. The embodiment of the application can improve the accuracy and efficiency of stone throwing.

Description

Technical Field

[0001] This application relates to the field of cable protection technology, and in particular to a rock-dropping system and method for protecting submarine cables. Background Technology

[0002] During the operation of submarine cables, some routes are subjected to long-term erosion by ocean currents, leading to situations where the cables become exposed or shallower in burial depth. Exposed or shallowly buried submarine cables are vulnerable to damage from external forces such as anchoring, and further erosion can cause them to become suspended, resulting in further damage. Damage to submarine cables is difficult to diagnose and repair, with long repair periods and high costs, leading to significant socio-economic losses. Therefore, it is necessary to protect exposed or shallowly buried submarine cables using methods such as sandbag placement, cement interlocking barriers, permeable frames, and rock placement. For rock placement protection of submarine cables, the current construction method involves using a "dynamically positioned vessel + rock drop pipe + 3D sonar" for rock deployment. However, the accuracy is often affected by factors such as ocean currents, the height of the rock drop pipe above the bottom, and water turbidity, resulting in inaccurate placement. To meet design requirements, a large amount of additional rock is often required, leading to low construction efficiency.

[0003] In summary, the technical problems existing in the relevant technologies need to be improved. Summary of the Invention

[0004] The main objective of this application is to propose a rock-throwing system and method for protecting submarine cables, which can improve the accuracy and efficiency of rock throwing.

[0005] To achieve the above objectives, one aspect of this application proposes a rock-dropping system for the protection of submarine cables. The system includes a powered positioning vessel, a rock-dropping channel, and an underwater robot. The underwater robot is equipped with multiple multibeam sonar devices, and the powered positioning vessel is connected to the underwater robot through the rock-dropping channel. The dynamic positioning vessel is used to track the submarine cable and transport stones to the rockfall channel; The rockfall channel is used to transport the rocks to the underwater robot; The underwater robot is used to scan the seabed environment using the multibeam sonar to determine the positional deviation of the stone placement; and to adjust the position of the powered positioning vessel according to the positional deviation so as to place the stone above the position of the submarine cable.

[0006] In some embodiments, the plurality of multibeam devices includes a first multibeam device and a second multibeam device, wherein the first multibeam device is disposed in front of the underwater robot in the direction of movement, and the second multibeam device is disposed behind the underwater robot in the direction of movement. The first multibeam device is used to scan the seabed topography to obtain the distance between the underwater robot and the seabed, so as to control the distance between the underwater robot and the seabed; The second multibeam device is used to scan the deployed stones to determine the positional deviation between the stones and the submarine cable.

[0007] In some embodiments, the underwater robot is further equipped with a current meter, and the underwater robot also includes multiple sets of thrusters, each set of thrusters being disposed at a different position on the underwater robot; The current meter is used to detect ocean current data around the underwater robot to obtain the direction and velocity of the ocean current. The thruster is used to generate thrust opposite to the direction of the ocean current, based on the direction and velocity of the ocean current.

[0008] In some embodiments, the system further includes a take-up and release module, and the rockfall channel includes multiple rockfall tubes of different lengths: The retraction module is used to adjust the falling height of the rockfall channel.

[0009] In some embodiments, the system further includes a winch connected to the rockfall channel via a wire rope; The winch is used to adjust the wire rope so that the rockfall channel is in a vertical position.

[0010] In some embodiments, the system further includes an excavator, a conveying device, and a rockfall pipe platform, all of which are mounted on the powered positioning vessel. The conveying device is connected to the rockfall pipe platform, and the rockfall pipe platform is connected to the rockfall channel. The excavator is used to transport the stones to be delivered to the conveying device; The conveying device is used to convey the stone to the rockfall pipe platform; The rockfall pipe platform is used to drop the stones through the rockfall channel.

[0011] In some embodiments, the underwater robot is provided with a multibeam support, and the multibeam device is mounted on the multibeam support; The multi-beam bracket is used to control the position of the multi-beam device.

[0012] To achieve the above objectives, another aspect of this application proposes a rock-dropping method for submarine cable protection. The method is applied to the rock-dropping system for submarine cable protection described in the above embodiments, and includes: The seabed environment is scanned using the multibeam apparatus to determine the positional deviation of the stone placement. The position of the dynamic positioning vessel is adjusted according to the positional deviation so as to place the stone above the position of the submarine cable.

[0013] In some embodiments, the step of scanning the seabed environment using the multibeam apparatus to determine the positional deviation of the stone placement includes: The center position of the stone dam was determined by scanning the already placed stones. The distance and direction of the offset of the center of the rock dam from the submarine cable are calculated based on the center position and the position of the submarine cable, wherein the positional deviation includes the distance and the direction.

[0014] In some embodiments, the method further includes: The placement height of the stone dam was determined by scanning the already placed stones. The speed of the dynamically positioned vessel is adjusted with the goal of reducing the difference between the deployment height and the preset height.

[0015] To achieve the above objectives, another aspect of this application provides an electronic device, which includes a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement the method described above.

[0016] To achieve the above objectives, another aspect of the embodiments of this application proposes a computer-readable storage medium storing a computer program that, when executed by a processor, implements the methods described above.

[0017] To achieve the above objectives, another aspect of the embodiments of this application proposes a computer program product, including a computer program that, when executed by a processor, implements the aforementioned method.

[0018] The embodiments of this application include at least the following beneficial effects: This application provides a rock-dropping system and method for submarine cable protection. This scheme uses an underwater robot to scan the seabed environment with a multibeam sonar to determine the positional deviation of the rock drop. Based on the positional deviation, the drop position is quickly adjusted. Through the coordinated cooperation of a powered positioning vessel, an underwater robot, and a multibeam sonar, the rapid and precise drop of the rock is achieved, which improves the efficiency of accurate rock drop, significantly shortens the construction period, and enables the submarine cable to be restored to its original protection level in a timely manner. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the rock-dropping system for submarine cable protection provided in an embodiment of this application; Figure 2This is a schematic diagram of the underwater robot provided in the embodiments of this application; Figure 3 This is a rear view of a rock-dropping system for submarine cable protection provided in an embodiment of this application; Figure 4 This is a top view of a rock-dropping system for submarine cable protection provided in an embodiment of this application; Figure 5 This is a schematic diagram of the hardware structure of the electronic device provided in the embodiments of this application.

[0020] Attached figures: 1. Dynamic positioning vessel; 2. Rockfall tunnel; 3. Underwater robot; 4. Multibeam unit; 5. Current meter; 6. Wire rope; 7. Winch; 41. First multibeam unit; 42. Second multibeam unit; 11. Excavator; 12. Conveying device; 13. Rockfall pipe platform. Detailed Implementation

[0021] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of this application and are not intended to limit it. In the following description, when referring to the accompanying drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with those of this application; they are merely examples of apparatuses and methods consistent with some aspects of the embodiments of this application as detailed in the appended claims.

[0022] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing embodiments of this application only and is not intended to limit this application.

[0023] Before providing a detailed description of the embodiments of this application, some of the nouns and terms involved in the embodiments of this application will be explained first. The nouns and terms involved in the embodiments of this application are subject to the following interpretations.

[0024] During the operation of submarine cables, some routes are subjected to long-term erosion by ocean currents, leading to situations where the cables become exposed or shallower in burial depth. Exposed or shallowly buried submarine cables are vulnerable to damage from external forces such as anchoring, and further erosion can cause them to become suspended and damaged. Damage to submarine cables is difficult to diagnose and repair, resulting in long repair periods, high costs, and significant socio-economic losses. Therefore, it is necessary to protect exposed or shallowly buried submarine cables using methods such as sandbag placement, cement interlocking barriers, permeable frames, and rock placement. Traditional rock placement methods for submarine cables involve "dynamically positioned vessels + rock-dropping pipes + 3D sonar." However, the accuracy of this method is often affected by factors such as ocean currents, the height of the rock-dropping pipe above the seabed, and water turbidity, leading to inaccurate placement. To meet design requirements, large quantities of additional rocks are often needed, resulting in high costs and low construction efficiency.

[0025] In view of this, this application provides a rock-dropping system and method for submarine cable protection. This solution uses an underwater robot to scan the seabed environment with a multibeam sonar to determine the positional deviation of the rock drop. Based on the positional deviation, the drop position is quickly adjusted. Through the coordinated operation of the powered positioning vessel, the underwater robot, and the multibeam sonar, the rapid and precise drop of the rock is achieved, which improves the efficiency of accurate rock drop, significantly shortens the construction period, enables the submarine cable to be restored to its original protection level in a timely manner, and effectively reduces costs.

[0026] Figure 1 This is an optional structural diagram of a rock-dropping system for submarine cable protection provided in an embodiment of this application. The system includes a powered positioning vessel 1, a rock-dropping channel 2, and an underwater robot 3. The underwater robot 3 is equipped with multiple multibeam devices 4. The powered positioning vessel 1 is connected to the underwater robot 3 through the rock-dropping channel 2. The dynamic positioning vessel 1 is used to track submarine cables and transport stones to the rockfall channel; Rockfall channel 2 is used to transport rocks to the underwater robot; The underwater robot 3 is used to scan the seabed environment using the multibeam device 4 to determine the positional deviation of the stone placement; and adjusts the position of the dynamic positioning vessel 1 according to the positional deviation to place the stone above the position of the submarine cable.

[0027] This solution uses an underwater robot 3 with a multibeam sonar 4 to determine the deviation distance between the landing point of the stone and the submarine circuit. Then, by dynamically adjusting the position of the powered positioning vessel, the stone is accurately thrown to the submarine cable location, thereby significantly improving construction efficiency and reliability, and effectively reducing costs.

[0028] In some embodiments, the plurality of multibeam devices 4 include a first multibeam device 41 and a second multibeam device 42, wherein the first multibeam device 41 is disposed in front of the underwater robot 3 in the direction of movement, and the second multibeam device 42 is disposed behind the underwater robot 3 in the direction of movement. The first multibeam device 41 is used to scan the seabed topography to obtain the distance between the underwater robot and the seabed, so as to control the distance between the underwater robot and the seabed. The second multibeam device 42 is used to scan the deployed stones to determine the positional deviation between the stones and the submarine cable.

[0029] Specifically, the powered positioning vessel 1 travels along the direction of the submarine cable, the rockfall channel 2 is behind the direction of travel, and the underwater robot 3 is equipped with a multibeam device 4 at both the front and rear to achieve simultaneous real-time scanning. The first multibeam device 41 can observe the changes in terrain and measure the distance between the robot and the seabed. By adjusting the rockfall channel, the underwater robot 3 is made to be more than 5 meters away from the seabed. The second multibeam device 42 can observe the shape and height of the thrown rocks and determine the positional deviation between the rocks and the submarine cable, thereby achieving the accuracy of rock delivery.

[0030] In some embodiments, please refer to Figure 2 The underwater robot 3 is also equipped with a current meter 5, and the underwater robot 3 also includes multiple sets of thrusters, each set of thrusters is set at a different position of the underwater robot 3; The current meter 5 is used to detect ocean current data around the underwater robot 3 to obtain the direction and velocity of the ocean current; The thruster is used to generate thrust in the opposite direction to the ocean current, based on the direction and velocity of the current.

[0031] Specifically, the underwater robot 3 monitors ocean current data in real time using its onboard current meter 5, and based on this data, controls the rotation speed of its four thrusters to actively generate a thrust against the ocean current. This force can dynamically counteract the lateral effect of the ocean current on the rockfall channel 2, thereby significantly suppressing the deviation of the rockfall channel 2.

[0032] In some embodiments, the system further includes a take-up and release module, and the rockfall channel 3 includes multiple rockfall tubes of different lengths: The extension and retraction module is used to adjust the falling height of the rockfall channel.

[0033] Specifically, a matching combination of rockfall pipes is selected based on the water depth of the submarine cable. Each rockfall pipe is 5 meters, 3 meters, or 2 meters long and can be combined according to the water depth requirements. The rockfall pipes can also be adjusted up and down by 2 meters through the deployment and retrieval system.

[0034] In some embodiments, please refer to Figure 3 The system also includes a winch 7, which is connected to the rockfall channel 2 via a steel wire rope 6; The winch 7 is used to adjust the wire rope 6 so that the rockfall channel 2 is in a vertical position.

[0035] Specifically, after the rockfall channel 2 is assembled, the deflection state of the rockfall channel 2 is confirmed, and the winch 7 is used to tighten the wire rope 6 to make the rockfall channel 2 vertical.

[0036] In some embodiments, please refer to Figure 4 The system also includes an excavator 11, a conveying device 12, and a rockfall pipe platform 13. The excavator 11, the conveying device 12, and the rockfall pipe platform 13 are all installed on the dynamic positioning vessel 1. The conveying device 12 is connected to the rockfall pipe platform 13, and the rockfall pipe platform 13 is connected to the rockfall channel 2. The excavator 11 is used to transport the stones to be delivered to the conveying device 12; The conveying device 12 is used to convey stones to the rockfall pipe platform 13; The rockfall pipe platform 13 is used to drop stones through the rockfall channel 2.

[0037] Specifically, firstly, based on the direction of the ocean current, the bow of the dynamic positioning vessel 1 is adjusted to face the current. Using the onboard crane, the rockfall channel 2 is placed onto the rockfall pipe platform 13, and each section of the rockfall pipe is installed and secured, completing the assembly. To ensure the safety of the submarine cable, the lower end of the assembled rockfall channel 2 is at least 5 meters above the seabed. The construction vessel uses an excavator 11 to deliver stones into a funnel. Below the funnel, a conveyor device 12 transports the stones to the rockfall channel 2, ensuring a uniform and continuous flow of stones.

[0038] In some embodiments, the underwater robot 3 is provided with a multibeam support, and the multibeam device 4 is provided on the multibeam support; The multibeam bracket is used to control the position of the multibeam device 4.

[0039] Specifically, to facilitate the deployment and retrieval of the underwater robot 3, the multibeam device 4 is designed as a retractable device. When deploying or retrieval the underwater robot, the multibeam support is retracted upwards to protect the multibeam device 4. After the rockfall channel 2 and the underwater robot 3 are released into position, the multibeam support is opened to make it horizontal. This design can both protect the multibeam device 4 and maintain a sufficient distance from the rockfall channel 2 to reduce the impact of air bubbles generated by the falling rocks on the scanning of the multibeam device 4.

[0040] This application embodiment also provides a rock-dropping method for submarine cable protection. The method is applied to the rock-dropping system for submarine cable protection described above, and the method may include, but is not limited to, steps S101 to S102: Step S101: The seabed environment is scanned using a multibeam scanner to determine the positional deviation of the stone placement. Step S102: Adjust the position of the dynamic positioning vessel according to the positional deviation to place the stone above the position of the submarine cable.

[0041] It is understood that the content of the above system embodiments is applicable to this method embodiment. The specific functions implemented in this method embodiment are the same as those in the above system embodiments, and the beneficial effects achieved are also the same as those achieved in the above system embodiments.

[0042] In some embodiments, step S101 may include, but is not limited to, steps S111 to S112: Step S111: Scan the placed stones to obtain the center position of the stone dam; Step S112: Calculate the distance and direction of the offset of the rock dam center from the submarine cable based on the center position and the position of the submarine cable. The position deviation includes both distance and direction.

[0043] In steps S111 to S112 of some embodiments, the post-multibeam device (second multibeam device) scan can observe the shape and height of the thrown stone. The software can automatically obtain the vertical distance between the center of the stone dam and the position of the submarine cable from the post-multibeam scan, thereby obtaining the distance and direction of the stone dam center offset from the submarine cable. Based on the offset and direction, the dynamic positioning vessel is dynamically adjusted so that the stone finally falls above the position of the submarine cable.

[0044] In some embodiments, the rock-dropping method for protecting submarine cables further includes steps S103 to S104: Step S103: Scan the placed stones to obtain the placement height of the stone dam; Step S104: Adjust the speed of the dynamically positioned vessel with the goal of reducing the difference between the deployment height and the preset height.

[0045] In some embodiments, steps S103 to S104 determine the speed of the dynamic positioning vessel based on whether the height of the stone dam measured by the second multibeam device (second multibeam device) meets the preset height. The slower the speed, the higher the stone dam; the faster the speed, the lower the stone dam, ultimately maximizing the efficiency of stone throwing and reducing waste.

[0046] To address the issues of low efficiency and poor accuracy in submarine cable rock-drop protection construction due to the significant impact of ocean currents, this embodiment provides a system that utilizes a dynamically positioned vessel, an adjustable rock-dropping pipe, an underwater robot, and multibeam sonar. Based on the vertical distance between the rock's landing point and the submarine cable, the system dynamically adjusts the position of the dynamically positioned vessel to precisely drop the rock onto the cable. This achieves rapid, targeted rock placement, making the entire construction process mechanized, intelligent, and standardized. It significantly improves the efficiency of precise rock placement, shortens the construction period, saves on rock usage costs, and allows the submarine cable to be promptly restored to its original protection level, reducing the risk of damage to exposed or shallowly buried submarine cables from external forces.

[0047] This application also provides an electronic device, which includes a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement the above-described method. This electronic device can be any smart terminal, including tablet computers, in-vehicle computers, etc.

[0048] It is understood that the content of the above method embodiments is applicable to this device embodiment. The specific functions implemented by this device embodiment are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method embodiments.

[0049] Please see Figure 5 , Figure 5 The hardware structure of an electronic device according to another embodiment is illustrated. The electronic device includes: The processor 901 can be implemented using a general-purpose CPU (Central Processing Unit), microprocessor, application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of this application. The memory 902 can be implemented as a read-only memory (ROM), static storage device, dynamic storage device, or random access memory (RAM). The memory 902 can store the operating system and other application programs. When the technical solutions provided in the embodiments of this specification are implemented through software or firmware, the relevant program code is stored in the memory 902 and is called and executed by the processor 901 using the methods described in the embodiments of this application. The input / output interface 903 is used to implement information input and output; The communication interface 904 is used to enable communication and interaction between this device and other devices. Communication can be achieved through wired means (such as USB, Ethernet cable, etc.) or wireless means (such as mobile network, WIFI, Bluetooth, etc.). Bus 905 transmits information between various components of the device (e.g., processor 901, memory 902, input / output interface 903, and communication interface 904); The processor 901, memory 902, input / output interface 903, and communication interface 904 are connected to each other within the device via bus 905.

[0050] This application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the above-described method.

[0051] It is understood that the content of the above method embodiments is applicable to this storage medium embodiment. The specific functions implemented in this storage medium embodiment are the same as those in the above method embodiments, and the beneficial effects achieved are also the same as those achieved in the above method embodiments.

[0052] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the above-described method.

[0053] It is understood that the content of the above method embodiments is applicable to the embodiments of this program product. The specific functions implemented by the embodiments of this program product are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method embodiments.

[0054] Memory, as a non-transitory computer-readable storage medium, can be used to store non-transitory software programs and non-transitory computer-executable programs. Furthermore, memory may include high-speed random access memory, and may also include non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid-state storage device. In some embodiments, memory may optionally include memory remotely located relative to the processor, and these remote memories can be connected to the processor via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

[0055] The rock-dropping system and method for protecting submarine cables provided in this application have at least the following beneficial effects: 1. By using multi-beam real-time scanning to dynamically adjust the position of the dynamic positioning vessel, precise rock-dropping can be achieved.

[0056] 2. Maximize the benefits of rock-laying, improve construction efficiency, and reduce construction costs.

[0057] 3. The underwater robot controls the thrusters to counteract the lateral force of the ocean current on the rockfall pipe.

[0058] 4. The rockfall pipe can be dynamically extended and retracted by 2 meters to adapt to changes in terrain and reduce the need for frequent installation and retraction of the rockfall pipe.

[0059] The embodiments described in this application are for the purpose of more clearly illustrating the technical solutions of this application, and do not constitute a limitation on the technical solutions provided in this application. As those skilled in the art will know, with the evolution of technology and the emergence of new application scenarios, the technical solutions provided in this application are also applicable to similar technical problems.

[0060] Those skilled in the art will understand that the technical solutions shown in the figures do not constitute a limitation on the embodiments of this application, and may include more or fewer steps than shown, or combine certain steps, or different steps.

[0061] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs.

[0062] Those skilled in the art will understand that all or some of the steps in the methods disclosed above, as well as the functional modules / units in the systems and devices, can be implemented as software, firmware, hardware, or suitable combinations thereof.

[0063] The terms “first,” “second,” “third,” “fourth,” etc. (if present) in the specification and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms “comprising” and “having,” and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0064] It should be understood that in this application, "at least one (item)" means one or more, and "more than" means two or more. "And / or" is used to describe the relationship between related objects, indicating that three relationships can exist. For example, "A and / or B" can represent three cases: only A exists, only B exists, and both A and B exist simultaneously, where A and B can be singular or plural. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship. "At least one (item) of the following" or similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one (item) of a, b, or c can represent: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, and c can be single or multiple.

[0065] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of the units described above is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0066] The units described above as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0067] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0068] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes multiple instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this application. The aforementioned storage medium includes various media capable of storing programs, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0069] The preferred embodiments of the present application have been described above with reference to the accompanying drawings, but this does not limit the scope of the claims of the present application. Any modifications, equivalent substitutions, and improvements made by those skilled in the art without departing from the scope and substance of the embodiments of the present application shall be within the scope of the claims of the present application.

Claims

1. A rock-dropping system for protecting submarine cables, characterized in that, The system includes a powered positioning vessel, a rockfall channel, and an underwater robot. The underwater robot is equipped with multiple multibeam solenoids, and the powered positioning vessel is connected to the underwater robot through the rockfall channel. The dynamic positioning vessel is used to track the submarine cable and transport stones to the rockfall channel; The rockfall channel is used to transport the rocks to the underwater robot; The underwater robot is used to scan the seabed environment using the multibeam sonar to determine the positional deviation of the stone placement; and to adjust the position of the powered positioning vessel according to the positional deviation so as to place the stone above the position of the submarine cable.

2. The system according to claim 1, characterized in that, The plurality of multibeam devices includes a first multibeam device and a second multibeam device. The first multibeam device is disposed in front of the underwater robot in the direction of movement, and the second multibeam device is disposed behind the underwater robot in the direction of movement. The first multibeam device is used to scan the seabed topography to obtain the distance between the underwater robot and the seabed, so as to control the distance between the underwater robot and the seabed; The second multibeam device is used to scan the deployed stones to determine the positional deviation between the stones and the submarine cable.

3. The system according to claim 1, characterized in that, The underwater robot is also equipped with a current meter, and the underwater robot also includes multiple sets of thrusters, each set of thrusters being located at a different position on the underwater robot. The current meter is used to detect ocean current data around the underwater robot to obtain the direction and velocity of the ocean current. The thruster is used to generate thrust opposite to the direction of the ocean current, based on the direction and velocity of the ocean current.

4. The system according to claim 1, characterized in that, The system also includes a receiving and deploying module, and the rockfall channel comprises multiple rockfall tubes of different lengths. The retraction module is used to adjust the falling height of the rockfall channel.

5. The system according to claim 1, characterized in that, The system also includes a winch, which is connected to the rockfall channel via a steel wire rope; The winch is used to adjust the wire rope so that the rockfall channel is in a vertical position.

6. The system according to claim 1, characterized in that, The system also includes an excavator, a conveying device, and a rockfall pipe platform. The excavator, the conveying device, and the rockfall pipe platform are all mounted on the powered positioning vessel. The conveying device is connected to the rockfall pipe platform, and the rockfall pipe platform is connected to the rockfall channel. The excavator is used to transport the stones to be delivered to the conveying device; The conveying device is used to convey the stone to the rockfall pipe platform; The rockfall pipe platform is used to drop the stones through the rockfall channel.

7. The system according to claim 1, characterized in that, The underwater robot is equipped with a multi-beam support, and the multi-beam device is mounted on the multi-beam support. The multi-beam bracket is used to control the position of the multi-beam device.

8. A method for dropping rocks for the protection of submarine cables, characterized in that, The method is applied to the rock-dropping system for submarine cable protection as described in any one of claims 1 to 7, the method comprising: The seabed environment is scanned using the multibeam apparatus to determine the positional deviation of the stone placement. The position of the dynamic positioning vessel is adjusted according to the positional deviation so as to place the stone above the position of the submarine cable.

9. The method according to claim 8, characterized in that, The step of scanning the seabed environment using the multibeam apparatus to determine the positional deviation of the stone placement includes: The center position of the stone dam was determined by scanning the already placed stones. The distance and direction of the offset of the center of the rock dam from the submarine cable are calculated based on the center position and the position of the submarine cable, wherein the positional deviation includes the distance and the direction.

10. The method according to claim 8, characterized in that, The method further includes: The placement height of the stone dam was determined by scanning the already placed stones. The speed of the dynamically positioned vessel is adjusted with the goal of reducing the difference between the deployment height and the preset height.

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