An underwater trenching machine

Abstract

This utility model discloses an underwater trenching machine, including a trenching machine body, a first processor, a first lighting lamp, a second lighting lamp, a third lighting lamp, and a fourth lighting lamp. The first and second lighting lamps are located at both ends of the front of the trenching machine body, and the third and fourth lighting lamps are located at both ends of the rear of the trenching machine body. The first processor is located inside the trenching machine body and is connected to the first, second, third, and fourth lighting lamps respectively. This utility model achieves all-round lighting coverage of the underwater trenching machine from both the front and rear directions by rationally arranging multiple sets of lighting lamps, significantly improving the light intensity and uniformity of the working area, and effectively solving the problems of insufficient lighting and numerous blind spots in traditional underwater trenching machines.

Description

Technical Field

[0001] This utility model relates to the field of underwater robot technology, and in particular to an underwater trenching machine. Background Technology

[0002] With the continuous advancement of marine resource development and projects such as submarine communication and cable laying, the demand for underwater trenching equipment in deep-sea environments is increasing. As key equipment for performing seabed trench excavation tasks, underwater trenching machines typically need to operate stably for extended periods in environments with extremely low visibility, insufficient lighting, and complex terrain. To ensure visibility and operational safety during operations, trenching machines are usually equipped with multiple high-brightness lighting devices for real-time illumination of the work area in front and behind.

[0003] Most existing underwater trenching equipment uses fixed lighting fixtures, often centrally controlled by a processor. Multiple lighting units are arranged at the front and rear of the equipment to cover the work area in different directions. However, in practical applications, how to rationally arrange the lighting positions and uniformly control multiple lighting fixtures remains a crucial issue for improving the efficiency and safety of underwater operations. Therefore, there is an urgent need for a structurally sound and easily controllable multi-lamp integrated lighting solution to meet the lighting requirements of complex deep-sea operating environments. Utility Model Content

[0004] To address the aforementioned technical problems, the purpose of this utility model is to provide an underwater trenching machine that can effectively illuminate the work areas in low light or turbid environments. Through the rational layout and unified control of multiple lighting fixtures, the visibility range and lighting uniformity during underwater operations are improved, ensuring that the trenching path is clearly identifiable, thereby enhancing operational safety and construction efficiency.

[0005] The technical solution adopted in this utility model is:

[0006] An underwater trenching machine includes a trenching machine body, a first processor, a first light, a second light, a third light, and a fourth light. The first light and the second light are disposed at both ends of the front part of the trenching machine body, and the third light and the fourth light are disposed at both ends of the rear part of the trenching machine body. The first processor is disposed within the trenching machine body and is connected to the first light, the second light, the third light, and the fourth light.

[0007] Furthermore, the underwater trenching machine also includes a first glass cover, a second glass cover, a third glass cover, and a fourth glass cover. The first glass cover is sealed and installed on the first lighting lamp, the second glass cover is sealed and installed on the second lighting lamp, the third glass cover is sealed and installed on the third lighting lamp, and the fourth glass cover is sealed and installed on the fourth lighting lamp.

[0008] Furthermore, the underwater trenching machine also includes a first light sensor, a second light sensor, a third light sensor, and a fourth light sensor. The first light sensor is disposed inside the first glass cover, the second light sensor is disposed inside the second glass cover, the third light sensor is disposed inside the third glass cover, and the fourth light sensor is disposed inside the fourth glass cover. The first processor is connected to the first light sensor, the second light sensor, the third light sensor, and the fourth light sensor respectively.

[0009] Furthermore, the underwater trenching machine also includes a second processor, which is disposed on the trenching machine body and connected to the first processor.

[0010] Furthermore, the underwater trenching machine also includes a camera, which is mounted on the trenching machine body and connected to the second processor.

[0011] Furthermore, the underwater trenching machine also includes a water depth sensor, which is mounted on the trenching machine body and connected to the second processor.

[0012] Furthermore, the underwater trenching machine also includes a first electric rotating assembly, a second electric rotating assembly, a third electric rotating assembly, and a fourth electric rotating assembly. The first light is mounted on the trenching machine body via the first electric rotating assembly, the second light is mounted on the trenching machine body via the second electric rotating assembly, the third light is mounted on the trenching machine body via the third electric rotating assembly, and the fourth light is mounted on the trenching machine body via the fourth electric rotating assembly. The second processor is connected to the first electric rotating assembly, the second electric rotating assembly, the third electric rotating assembly, and the fourth electric rotating assembly.

[0013] Furthermore, the underwater trenching machine also includes a communication module, which is mounted on the trenching machine body and connected to the second processor.

[0014] Furthermore, the underwater trenching machine also includes an inertial navigation unit, which is mounted on the trenching machine body and connected to the second processor.

[0015] Furthermore, the underwater trenching machine also includes a sonar positioning module, which is mounted on the trenching machine body and connected to the second processor.

[0016] This utility model provides an underwater trenching machine. By installing a first and a second light at both ends of the front of the trenching machine body, and a third and a fourth light at both ends of the rear, and by having a first processor installed in the body to control the start, stop and brightness adjustment of each light, it achieves multi-directional lighting of the front and rear working areas of the trenching machine, enhancing visibility and safety during underwater operations. It is suitable for trenching tasks in low visibility environments such as deep sea and turbid water. Attached Figure Description

[0017] Figure 1 This is a system structure diagram of an underwater trenching machine according to an embodiment of the present invention;

[0018] Figure 2 This is a system module diagram of an underwater trenching machine according to an embodiment of the present invention. Detailed Implementation

[0019] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0020] This utility model embodiment provides an underwater trenching machine, see reference. Figure 1 The device includes a trenching machine body, a first processor, a first light, a second light, a third light, and a fourth light. The first light and the second light are located at both ends of the front part of the trenching machine body, and the third light and the fourth light are located at both ends of the rear part of the trenching machine body. The first processor is located inside the trenching machine body and is connected to the first light, the second light, the third light, and the fourth light.

[0021] Specifically, this utility model embodiment is an underwater trenching machine suitable for complex deep-sea operating environments, including a trenching machine body, a first processor, and multiple sets of lighting devices installed at several key locations on the trenching machine body. The lighting devices include a first light and a second light, symmetrically installed on the left and right sides of the front of the trenching machine body to illuminate the working path ahead; a third light and a fourth light, symmetrically arranged on the left and right sides of the rear of the trenching machine body to supplement the rear area and assist in reverse operation. The first processor is installed in a protective compartment inside the trenching machine body and is connected to the first, second, third, and fourth lights via wires. It can receive upper-level control commands or collect data, and control the on / off state and light intensity level of each light according to preset strategies or feedback information, achieving adaptive adjustment of the front and rear lighting areas, improving the visibility and safety of underwater operations. The lighting structure uses high-brightness, pressure-resistant and corrosion-resistant LED light source modules, and the outer shell is encapsulated with seawater anti-corrosion alloy material. It is fixed to the trencher shell through special sealing connectors and shock-absorbing mounting brackets, and has good resistance to high pressure, impact and long-term stable operation. It is suitable for continuous operation in extreme working environments such as deep sea and high turbidity.

[0022] As an optional implementation method, refer to Figure 1 The underwater trenching machine also includes a first glass cover, a second glass cover, a third glass cover, and a fourth glass cover. The first glass cover is sealed and installed on the first lighting lamp, the second glass cover is sealed and installed on the second lighting lamp, the third glass cover is sealed and installed on the third lighting lamp, and the fourth glass cover is sealed and installed on the fourth lighting lamp.

[0023] Specifically, the underwater trenching machine also includes a first glass cover, a second glass cover, a third glass cover, and a fourth glass cover, each used to independently seal and protect each lighting lamp. The first glass cover is sealed and installed outside the first lighting lamp, the second glass cover is sealed and installed outside the second lighting lamp, the third glass cover is sealed and installed outside the third lighting lamp, and the fourth glass cover is sealed and installed outside the fourth lighting lamp. Each glass cover is made of high-strength tempered optical glass, possessing excellent water pressure resistance, corrosion resistance, and light transmission performance. It can provide stable physical isolation and protection for the lighting lamps while ensuring the efficiency of luminous flux output, preventing performance degradation caused by seawater infiltration, particle erosion, or biological adhesion. The glass covers are securely connected to the lighting lamps via multiple O-ring seals and threaded structures, adapting to the high-pressure environment of the deep sea and ensuring reliable sealing and mechanical stability of the lighting system during long-term continuous operation. The installation structure has reserved maintenance channels, facilitating replacement and cleaning operations during onshore maintenance, effectively reducing operation and maintenance costs and improving system availability.

[0024] As an optional implementation method, refer to Figure 2The underwater trenching machine further includes a first light sensor, a second light sensor, a third light sensor, and a fourth light sensor. The first light sensor is disposed inside the first glass cover, the second light sensor is disposed inside the second glass cover, the third light sensor is disposed inside the third glass cover, and the fourth light sensor is disposed inside the fourth glass cover. The first processor is connected to the first light sensor, the second light sensor, the third light sensor, and the fourth light sensor respectively.

[0025] Specifically, the underwater trenching machine also includes a first light sensor, a second light sensor, a third light sensor, and a fourth light sensor, used to detect the ambient light intensity and reflected light brightness of each lighting area in real time. The first light sensor is installed in the internal space of the first glass cover, arranged coaxially with the first lighting lamp; the second light sensor is located inside the second glass cover; the third light sensor is fixed in the cavity of the third glass cover; and the fourth light sensor is embedded in the structure of the fourth glass cover. The four light sensors collect light intensity information from the front, rear, left, and right areas respectively, and output the corresponding light signals to the first processor. The processor, based on the received light data from each area, and combined with preset thresholds or dynamic dimming algorithms, intelligently adjusts the on / off status and brightness level of the corresponding lighting lamps, realizing adaptive lighting control based on ambient brightness. By setting up light sensors, not only is the response capability of the lighting system to factors such as seawater turbidity and depth-induced light decay improved, but higher adjustment accuracy is also provided in terms of energy consumption control and local lighting optimization, effectively avoiding energy waste and blind spots, and providing better optical support for precision underwater operations.

[0026] As an optional implementation method, refer to Figure 2 The underwater trenching machine also includes a second processor, which is disposed on the trenching machine body and connected to the first processor.

[0027] Specifically, the underwater trenching machine also includes a second processor to expand its information processing capabilities and functional module coordination capabilities. The second processor is installed in the onboard control compartment of the trenching machine and establishes a data connection with the first processor via an industrial bus or high-speed data communication cable. As the upper-level coordination and control unit of the trenching machine, the second processor undertakes high-order computing tasks such as image analysis, path planning, and lighting strategy optimization, while the first processor focuses on executing specific lighting control commands and real-time acquisition and feedback of sensor data. The two processors collaborate through a master-slave communication mechanism, thus constructing an underwater operation control architecture with fast response speed and clear control logic. This separate control structure design facilitates modular hardware deployment and functional expansion of the trenching machine, providing processing power support for subsequent integration of camera monitoring systems, image recognition algorithms, and remote control interfaces, improving the scalability and intelligence level of the entire system, and making it suitable for high-precision trenching operations in complex seabed terrain.

[0028] As an optional implementation method, refer to Figure 2 The underwater trenching machine also includes a camera, which is mounted on the trenching machine body and connected to the second processor.

[0029] Specifically, the underwater trenching machine also includes a camera to acquire real-time image information of the trenching area. The camera is mounted on the front or top of the trenching machine and features a wide-angle waterproof lens structure, adaptable to complex underwater environments such as low light, high pressure, and high turbidity, ensuring stable image quality. The camera connects to a second processor via a data interface, transmitting image data in real-time for analysis and processing. The second processor performs noise reduction, enhancement, edge detection, and target recognition on the image signal, enabling functions such as obstacle recognition, terrain structure analysis, and lighting assistance adjustment in the work area. Through linkage with the lighting system, the camera triggers the second processor to increase the brightness of corresponding lights in low-light areas, improving image clarity and further enhancing overall operational safety and precision. The image acquisition system supports communication with a remote control terminal, facilitating real-time monitoring of the work status or remote control tasks by operators.

[0030] As an optional implementation method, refer to Figure 2 The underwater trenching machine also includes a water depth sensor, which is mounted on the trenching machine body and connected to the second processor.

[0031] Specifically, the underwater trenching machine also includes a depth sensor for real-time detection of the depth of the operating water area. The depth sensor is mounted on the outer casing of the trenching machine, preferably at the front or bottom to improve measurement accuracy and environmental adaptability. The depth sensor is connected to a second processor via a signal cable. The collected water pressure data is converted into corresponding depth values ​​by an internal algorithm and transmitted to the second processor in real time. The second processor can dynamically adjust the lighting strategy based on this depth information, such as automatically increasing the brightness of the front lighting in high-pressure, low-light areas of the deep sea, or reducing light intensity in shallow, transparent environments to save energy. Furthermore, the depth data can also serve as a basis for auxiliary positioning and path planning, and together with camera image information and light sensor signals, construct an environmental perception model, improving the stability and autonomous judgment capabilities of the underwater operation system. This design effectively enhances the adaptability of the entire system to different marine environments and is an important auxiliary module in deep-sea precision trenching tasks.

[0032] As an optional implementation method, refer to Figure 2 The underwater trenching machine further includes a first electric rotating assembly, a second electric rotating assembly, a third electric rotating assembly, and a fourth electric rotating assembly. The first light is mounted on the trenching machine body via the first electric rotating assembly, the second light is mounted on the trenching machine body via the second electric rotating assembly, the third light is mounted on the trenching machine body via the third electric rotating assembly, and the fourth light is mounted on the trenching machine body via the fourth electric rotating assembly. The second processor is connected to the first electric rotating assembly, the second electric rotating assembly, the third electric rotating assembly, and the fourth electric rotating assembly.

[0033] Specifically, the underwater trenching machine also includes a first electric rotating assembly, a second electric rotating assembly, a third electric rotating assembly, and a fourth electric rotating assembly, each used to drive the corresponding lighting lamp to adjust its angle in the horizontal or vertical direction. The first lighting lamp is mounted on the trenching machine body via the first electric rotating assembly, enabling directional rotation control within a horizontal fan-shaped range; the second lighting lamp, via the second electric rotating assembly, allows for adjustment of the illumination coverage in the front lateral area; the third and fourth lighting lamps are mounted on the rear structure via the third and fourth electric rotating assemblies, respectively, to provide active lighting control capability for rearward visibility. Each electric rotating assembly employs a high-sealing servo motor drive system, possessing precise angle adjustment capability and excellent water pressure resistance, suitable for deep-sea high-pressure and high-corrosion operating environments. The electric rotating assemblies are connected to a second processor via dedicated signal lines. The second processor dynamically controls the lighting direction based on image information, light intensity, operating path, or remote control commands, thereby enabling functions such as beam following the operating area, avoiding obstacle reflection interference, and enhancing visibility in key areas. By installing an electrically rotating component on the lighting lamp, the lighting system is given high mobility and intelligent response capabilities, making it particularly suitable for precision operation scenarios in complex seabed terrain, such as irregular trench cleaning, target structure positioning, or precise lighting of specific areas. This provides underwater operation systems with dynamic environmental adaptability and a wider range of functional expansion possibilities.

[0034] As an optional implementation method, refer to Figure 2 The underwater trenching machine also includes a communication module, which is mounted on the trenching machine body and connected to the second processor.

[0035] Specifically, the underwater trenching machine also includes a communication module for data interaction and remote information synchronization between the trenching machine and an external control terminal. The communication module is fixedly installed in the internal protective compartment or external sealed compartment of the trenching machine body, and its structural design meets the requirements for long-term stable operation under underwater high pressure, electromagnetic interference, and high humidity environments. The communication module establishes a connection with the second processor via a bus interface or dedicated data cable, receiving control signals or status data output by the second processor, and supporting the transmission of external commands to the second processor. The communication method can be configured as a wired mode, such as a watertight communication cable or a wireless acoustic communication mode, to adapt to different water depths, operating ranges, and platform access requirements. By setting up the communication module, the remote operation terminal can monitor the trenching machine's operating status, video footage, positioning information, environmental parameters, and other data in real time, and issue task commands or adjust control strategies. This module significantly improves the remote control capability and information synchronization efficiency of the entire machine, and is particularly suitable for deep-sea operations, complex waters, or unattended automated operation scenarios, possessing high engineering application value and scalability.

[0036] As an optional implementation method, refer to Figure 2 The underwater trenching machine also includes an inertial navigation unit, which is mounted on the trenching machine body and connected to the second processor.

[0037] Specifically, the underwater trenching machine also includes an inertial navigation unit (INS), used to monitor the trenching machine's attitude changes, acceleration, and angular velocity in three-dimensional space in real time, enabling accurate attitude estimation and assisted positioning. The INS integrates a multi-axis accelerometer, gyroscope, and magnetometer, and is installed at the center of the trenching machine's main structure to enhance measurement stability and anti-interference capabilities. The INS connects to a second processor via a standard data interface, transmitting attitude angles, acceleration vectors, and heading angles in real time. The second processor performs fusion calculations on the received INS information, enabling high-frequency position prediction, path tracking, and attitude correction. Especially in deep water or complex terrain areas where GPS signals are unavailable, the INS provides continuous and stable navigation compensation for the trenching machine, ensuring the continuity and high precision of the work path. Furthermore, the INS can work with data collected from positioning modules, depth sensors, cameras, and other devices to construct an environmental perception model, assisting in determining the current working status and automatically adjusting lighting direction or work strategies. The inertial navigation unit significantly enhances the autonomous operation capability and spatial perception accuracy of underwater trenching equipment, making it suitable for demanding scenarios such as submarine pipeline laying, geological exploration, and tunnel guidance.

[0038] As an optional implementation method, refer to Figure 2 The underwater trenching machine also includes a sonar positioning module, which is mounted on the trenching machine body and connected to the second processor.

[0039] Specifically, the underwater trenching machine also includes a sonar positioning module for high-precision location determination and environmental detection in underwater environments. The sonar positioning module is installed at a suitable external location on the trenching machine body to ensure effective coverage of sound wave transmission and reception, while possessing excellent waterproof sealing and pressure resistance to adapt to the complex hydrological conditions of deep-sea operations. The sonar positioning module integrates a multi-beam sonar sensor, which calculates the relative distance and azimuth between the trenching machine and its surrounding environment, terrain, and other underwater targets in real time by emitting sound waves and receiving echo signals. The sonar positioning module is connected to a second processor via a high-speed data interface. The collected positioning data is fused and processed by the second processor, combined with information from the inertial navigation unit and depth sensors, to construct an accurate three-dimensional spatial positioning model. Through the collaborative work of the sonar positioning module, the underwater trenching machine can achieve autonomous navigation and path adjustment, avoiding obstacles and improving operational safety and efficiency. The sonar positioning module also supports real-time environmental scanning, assisting operators in on-site situational awareness and decision-making, greatly enhancing the intelligence level of the equipment and the reliability of operations.

[0040] It should be noted that the various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. Furthermore, for ease of description, the accompanying drawings only show the parts relevant to this utility model, not the entire structure.

[0041] The above is a detailed description of the preferred embodiments of the present utility model. However, the present utility model is not limited to the embodiments. Those skilled in the art can make various equivalent modifications or substitutions without departing from the spirit of the present utility model. All such equivalent modifications or substitutions are included within the scope defined by the claims of this application.

Claims

1. An underwater trencher characterized by, The device includes a trenching machine body, a first processor, a first light, a second light, a third light, and a fourth light. The first light and the second light are located at both ends of the front part of the trenching machine body, and the third light and the fourth light are located at both ends of the rear part of the trenching machine body. The first processor is located inside the trenching machine body and is connected to the first light, the second light, the third light, and the fourth light.

2. The submersible trencher of claim 1, wherein, The underwater trenching machine also includes a first glass cover, a second glass cover, a third glass cover, and a fourth glass cover. The first glass cover is sealed and installed on the first lighting lamp, the second glass cover is sealed and installed on the second lighting lamp, the third glass cover is sealed and installed on the third lighting lamp, and the fourth glass cover is sealed and installed on the fourth lighting lamp.

3. The subsea trencher of claim 2, wherein, The underwater trenching machine also includes a first light sensor, a second light sensor, a third light sensor, and a fourth light sensor. The first light sensor is disposed inside the first glass cover, the second light sensor is disposed inside the second glass cover, the third light sensor is disposed inside the third glass cover, and the fourth light sensor is disposed inside the fourth glass cover. The first processor is connected to the first light sensor, the second light sensor, the third light sensor, and the fourth light sensor respectively.

4. The trench cutter of claim 1, wherein, The underwater trenching machine also includes a second processor, which is disposed on the trenching machine body and connected to the first processor.

5. The undersea trencher of claim 4, wherein, The underwater trenching machine also includes a camera, which is mounted on the trenching machine body and connected to the second processor.

6. The undersea trencher of claim 4, wherein, The underwater trenching machine also includes a water depth sensor, which is mounted on the trenching machine body and connected to the second processor.

7. The undersea trencher of claim 4 wherein, The underwater trenching machine further includes a first electric rotating assembly, a second electric rotating assembly, a third electric rotating assembly, and a fourth electric rotating assembly. The first light is mounted on the trenching machine body via the first electric rotating assembly, the second light is mounted on the trenching machine body via the second electric rotating assembly, the third light is mounted on the trenching machine body via the third electric rotating assembly, and the fourth light is mounted on the trenching machine body via the fourth electric rotating assembly. The second processor is connected to the first electric rotating assembly, the second electric rotating assembly, the third electric rotating assembly, and the fourth electric rotating assembly.

8. The undersea trencher of claim 4, wherein, The underwater trenching machine also includes a communication module, which is mounted on the trenching machine body and connected to the second processor.

9. The undersea trencher of claim 4, wherein, The underwater trenching machine also includes an inertial navigation unit, which is mounted on the trenching machine body and connected to the second processor.

10. The undersea trencher of claim 4, wherein, The underwater trenching machine also includes a sonar positioning module, which is mounted on the trenching machine body and connected to the second processor.

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