An automated apparatus for deep sea trenching plough

Abstract

The application discloses a kind of deep-sea ditching plough automation equipment, by remote control system and ditching plough, both are connected by redundant fiber communication. Remote control system contains host computer, controller and monitoring system, host computer stores and displays data, controller processes signal control actuator, monitoring system presents video picture. Ditching plough includes execution controller, data collector, video collector, actuator, sensor and monitor, data collector receives sensor signal transmission to controller 112, video collector will monitor signal transmission to monitoring system 113. System is feedbacked by sensor and monitor to automatically control actuator, redundant communication structure ensures network security, realizes the automation operation and state monitoring of deep-sea ditching plough.

Description

Technical Field

[0001] This application relates to the field of mechanical connection and structural stability technology, and more specifically, to an automated deep-sea trenching plow device. Background Technology

[0002] Traditional deep-sea trenching plows rely on sonar image feedback for simple operator control of the actuators, which has significant shortcomings in terms of safety, reliability, and stability. Many existing underwater trenching machines are only suitable for port environments and do not consider the needs of deep-sea operations. The traditional deep-sea trenching plow structure described in CN208136988U, "An Undersea Trenching Machine," lacks fully automated functionality. Furthermore, while the deep-sea trenching machine disclosed in CN118065455A achieves partial automation through an intelligent control system, this solution primarily focuses on improving the trenching machine itself. Its intelligent control system relies on its own judgment and control, lacking a remote control system for real-time monitoring and direct control of the trenching machine, and also failing to include a video acquisition device and corresponding monitoring system. Currently, there are technological gaps in the field of deep-sea trenching regarding automated control and communication security, necessitating an automated trenching plow system suitable for the deep-sea environment. Summary of the Invention

[0003] The purpose of this application is to provide an automated deep-sea trenching plow to solve the problems of high false alarm rate and frequent maintenance in traditional technologies, which seriously restrict the safe operation efficiency of offshore operations.

[0004] In a first aspect, this application provides an automated deep-sea trenching plow device, comprising an underwater operation system and a surface remote control system connected via fiber optic communication through a switch; the underwater operation system includes a trenching plow body, a sensor group fixedly mounted on the trenching plow body, an embedded execution controller mechanically connected to the execution mechanism within the trenching plow body, and an underwater communication module electrically connected to the controller; the surface remote control system includes a host computer, a monitor electrically connected to the host computer, and a surface communication module signal-connected to the host computer; wherein the surface communication module and the underwater communication module establish a bidirectional communication link; the trenching plow body is also equipped with a data acquisition device and a video acquisition device, the data acquisition device being electrically connected to the sensor group; and the video acquisition device being electrically connected to the monitor group.

[0005] In one embodiment, the sensor group includes a sonar detection unit, an inclination sensing unit, and a depth sensing unit; the sonar detection unit is disposed at the bottom front end of the trenching plow body, the inclination sensing unit is symmetrically disposed on both sides of the chassis of the trenching plow body, and the depth sensing unit is disposed in the middle of the body of the trenching plow body.

[0006] In one embodiment, the actuator includes a hydraulic leveling unit and a propulsion control unit; the hydraulic leveling unit is connected to the support arm of the trenching plow body via hydraulic lines, and the propulsion control unit is connected to the tail propeller of the trenching plow body via a drive shaft.

[0007] In one embodiment, the controller includes redundant control circuitry that is independently connected to a main communication interface and a backup communication interface, which are connected in parallel to the underwater communication module.

[0008] In one embodiment, the waterborne communication module adopts a dual-channel communication architecture, including a main wireless transmission module and a backup satellite transmission module, which are connected in parallel to different data interfaces of the host computer 111.

[0009] In one embodiment, the monitor includes a split-screen display unit that is simultaneously connected to at least two independent video input ports via a video distributor.

[0010] In one embodiment, a video acquisition unit is also included on top of the trenching plow body. The video acquisition unit includes a waterproof camera assembly and a gimbal bracket, wherein the waterproof camera assembly is adjustablely fixed to the top frame of the trenching plow body via the gimbal bracket.

[0011] In one embodiment, a ring-shaped fill light is provided around the waterproof camera assembly, and the ring-shaped fill light is coaxially mounted with the waterproof camera assembly through a protective cover.

[0012] In one embodiment, the host computer includes a physically isolated automatic control unit and a manual intervention unit. The automatic control unit is connected to the water communication module via a first data bus, and the manual intervention unit is independently connected to the monitor via a second data bus.

[0013] In one embodiment, the hydraulic leveling unit includes a first hydraulic cylinder group and a second hydraulic cylinder group arranged in parallel. The first hydraulic cylinder group is vertically connected to the four corners of the chassis of the trenching plow body, and the second hydraulic cylinder group is obliquely connected to the side beam of the chassis of the trenching plow body.

[0014] Beneficial effects

[0015] The automated deep-sea trenching plow of this invention achieves automatic control of the actuators through feedback from various sensors and monitors, changing the traditional mode of relying on simple manual control and significantly improving the level of intelligence in operations. The system employs a redundant fiber optic communication network, which significantly improves the security of the communication network compared to traditional communication methods, reducing the risks caused by communication failures in deep-sea operations. The collaborative design of the remote control system and the trenching plow allows operators to obtain sensor and monitor signals in real time through the host computer 111. When a suspected abnormal signal is detected, the operator can directly intervene to control the actuators. This human-machine collaborative control mechanism ensures the efficiency of automated operations while providing the possibility of manual correction in case of emergencies, reducing the probability of dangerous situations such as tilting or overturning of the trenching plow. Simultaneously, the video acquisition and monitoring system 113 allows operators to intuitively observe the status of the trenching plow and the underwater environment, assisting in judgment and decision-making, further improving the reliability and stability of operations. The system's automated control and safety design can adapt to different seabed sediment environments, reducing the need for manual intervention, improving the efficiency and adaptability of trenching operations, and providing more reliable technical support for deep-sea engineering construction. Attached Figure Description

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

[0017] Figure 1 This is a schematic diagram of an automated equipment module for trenching and plowing in the sea, provided as an embodiment of the present invention.

[0018] 111. Host computer; 112. Controller; 113. Monitoring system; 114. Switch; 22. Trenching plow body; 221. Execution controller; 222. Data acquisition unit; 223. Video acquisition unit; 210. Actuator; 211. Lighting device; 212. Sensor group; 213. Monitor group. Detailed Implementation

[0019] 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 a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0020] It should be noted that if the embodiments of the present invention involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative positional relationship and movement of the components in a specific posture. If the specific posture changes, the directional indications will also change accordingly.

[0021] Furthermore, if the embodiments of this invention involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the use of "and / or" or "and / or" throughout the text includes three parallel solutions. For example, "A and / or B" includes solution A, solution B, or a solution where both A and B are satisfied simultaneously. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this invention.

[0022] Traditional deep-sea trenching plows rely on sonar image feedback for simple operator control of the actuators, which has significant shortcomings in terms of safety, reliability, and stability. Many existing underwater trenching machines are only suitable for port environments and do not consider the needs of deep-sea operations. The traditional deep-sea trenching plow structure described in CN208136988U, "An Undersea Trenching Machine," lacks fully automated functionality. Furthermore, while the deep-sea trenching machine disclosed in CN118065455A achieves partial automation through an intelligent control system, this solution primarily focuses on improving the trenching machine itself. Its intelligent control system relies on its own judgment and control, lacking a remote control system for real-time monitoring and direct control of the trenching machine, and also failing to include a video acquisition device and corresponding monitoring system. Currently, there are technological gaps in the field of deep-sea trenching regarding automated control and communication security, necessitating an automated trenching plow system suitable for the deep-sea environment.

[0023] This embodiment provides an automated deep-sea trenching plow device, including an underwater operation system and a surface remote control system connected by fiber optic communication via a switch 114. The underwater operation system includes a trenching plow body 22, a sensor group 212 fixedly mounted on the trenching plow body 22, an execution controller 112 embedded in the trenching plow body 22 and mechanically connected to an execution mechanism 210, and an underwater communication module electrically connected to the controller 112. The surface remote control system includes a host computer 111, a monitor electrically connected to the host computer 111, and a surface communication module signal-connected to the host computer 111. The surface communication module and the underwater communication module establish a bidirectional communication link. The trenching plow body 22 is also equipped with a data acquisition unit 222 and a video acquisition unit 223. The data acquisition unit 222 is electrically connected to the sensor group 212, and the video acquisition unit 223 is electrically connected to the monitor group 213.

[0024] This utility model relates to an automated deep-sea trenching plow, particularly suitable for trench excavation operations in submarine pipeline laying projects. Figure 1 The system structure diagram shown illustrates that the equipment consists of a surface remote control system and an underwater operation system, which interact with each other via a two-way communication link. The surface remote control system is installed in a corrosion-resistant cabinet within the control cabin of the surface support vessel. The cabinet is divided into a host computer (HCC) installation area and a communication equipment area. The HCC installation area houses an industrial control computer, whose motherboard expansion slot integrates a video capture card, connected to the video input port of an anti-glare monitor via shielded cables. The communication equipment area contains a communication rack. The upper layer of the rack houses the main wireless transmission module, and the lower layer houses the backup satellite transmission module. These two modules are connected to different interfaces of the control computer via network cables and USB data cables, respectively.

[0025] The core of the underwater operation system is the trenching plow body 22, which adopts a main frame welded from high-strength steel plates, with a waterproof equipment compartment at the top of the frame. The waterproof equipment compartment encapsulates the controller module 112, which employs a dual-circuit board structure: the upper main control board integrates a processor, while the lower expansion board houses redundant control circuitry. The outputs of the redundant control circuits are connected in parallel to a main communication interface and a backup communication interface. The main communication interface connects to channel A of the underwater communication module via a waterproof connector, and the backup communication interface connects to channel B of the underwater communication module via a coaxial cable. The underwater communication module is encapsulated in a titanium alloy shell, and a watertight connector at the bottom of the shell extends to the outside of the body via an armored optical cable that penetrates the bulkhead.

[0026] The key structures of the trenching plow body 22 include: a sensor group 212, a sonar detection unit fixed in a mounting slot at the bottom front end, an inclination sensing unit horizontally mounted on the brackets on both sides of the chassis, and a depth sensing unit with an interference fit in a slot in the middle of the body. Each sensor signal line is waterproofed and connected to the corresponding interface of the controller module 112. The actuator 210 includes a hydraulic leveling unit comprising a first hydraulic cylinder group vertically mounted at the four corners of the chassis and a second hydraulic cylinder group inclinedly welded to the side beams of the chassis. The first hydraulic cylinder group is connected to the support arm via a universal joint, and the second hydraulic cylinder group is connected to the angle adjustment arm via a pin. Hydraulic oil is led out from the hydraulic station and distributed to each hydraulic cylinder via stainless steel rigid pipes. The propulsion control unit is connected to the tail propeller via a planetary gear reducer, and the reducer input shaft is coupled to a servo motor via a flexible coupling. The video acquisition unit has a gimbal bracket welded to the top of the main frame, with a three-axis anti-shake gimbal mounted on the upper part of the bracket, and a waterproof camera assembly connected to the gimbal. A ring-shaped fill light is coaxially mounted in front of the camera assembly, and its aluminum alloy lamp body is sealed with silicone between it and the camera housing. The video signal cable is connected to the controller module 112 via a waterproof connector.

[0027] It should be noted that in the specific implementation of the deep-sea trenching plow automation system, the switch 114, the execution controller 221, the data acquisition unit 222, the lighting device 211, and the monitor group 213 constitute the core architecture of the system for data transmission, control execution, information acquisition, and monitoring. The switch 114, as the system communication hub, is an industrial-grade redundant Ethernet switch deployed in the trenching plow's main control cabin and the surface control cabin. It connects to the redundant fiber optic communication network via fiber optic interfaces, providing a high-speed and stable data exchange channel for the controller 112, the execution controller 221, the data acquisition unit 222, and the video acquisition unit 223. Its supported VLAN segmentation function isolates sensor data, control commands, and video streams during transmission, ensuring the real-time performance and reliability of data transmission. The execution controller 221, as the direct control unit for underwater operations, adopts a waterproof and pressure-resistant design. It connects to the controller 112 via an RS485 bus, receives control commands, and drives the actuator 210. Its integrated PID control algorithm can adjust the parameters of the actuator 210 in real time based on sensor feedback, such as automatically increasing the tool feed pressure when operating on hard seabeds.

[0028] Data acquisition units 222 are distributed at key monitoring points of the trenching plow, collecting data from various sensors through different interface types. For example, analog interfaces connect to pressure and temperature sensors, while digital interfaces connect to displacement and turbidity sensors. The acquisition frequency can be dynamically adjusted according to operational needs. After preliminary filtering, the acquired data is uploaded to the controller 112 via switch 114. The lighting device 211 uses LED under-light modules, evenly distributed at the front end of the trenching plow and in the cutting tool working area. When used in conjunction with ring lights, it can eliminate shadows in the working area, ensuring that the monitor group 213 obtains clear video images.

[0029] The monitor group 213 consists of multiple high-definition cameras distributed at different locations on the trenching plow. The forward-looking camera uses a wide-angle lens to monitor the trenching operation in real time, the side-looking camera monitors changes in the seabed environment, and the cutter camera focuses on the cutting status of the cutter, achieving comprehensive visual monitoring of underwater operations. These components work together with other parts of the system to form a complete automated deep-sea trenching plow operation system.

[0030] In one embodiment, the sensor group 212 includes a sonar detection unit, an inclination sensing unit, and a depth sensing unit; the sonar detection unit is disposed at the bottom front end of the trenching plow body 22, the inclination sensing unit is symmetrically disposed on both sides of the chassis of the trenching plow body 22, and the depth sensing unit is disposed in the middle of the body of the trenching plow body 22.

[0031] In one embodiment, the actuator 210 includes a hydraulic leveling unit and a propulsion control unit; the hydraulic leveling unit is connected to the support arm of the trenching plow body 22 via a hydraulic pipeline, and the propulsion control unit is connected to the tail propeller of the trenching plow body 22 via a drive shaft.

[0032] In one embodiment, the controller 112 includes a redundant control circuit that is independently connected to a main communication interface and a backup communication interface, which are connected in parallel to the underwater communication module.

[0033] In one embodiment, the waterborne communication module adopts a dual-channel communication architecture, including a main wireless transmission module and a backup satellite transmission module, which are connected in parallel to different data interfaces of the host computer 111.

[0034] In one embodiment, the monitor includes a split-screen display unit that is simultaneously connected to at least two independent video input ports via a video distributor.

[0035] In one embodiment, a video acquisition unit is also provided on the top of the trenching plow body 22. The video acquisition unit includes a waterproof camera assembly and a gimbal bracket. The waterproof camera assembly is adjustablely fixed to the top frame of the trenching plow body 22 via the gimbal bracket.

[0036] In one embodiment, a ring-shaped fill light is provided around the waterproof camera assembly, and the ring-shaped fill light is coaxially mounted with the waterproof camera assembly through a protective cover.

[0037] In one embodiment, the host computer 111 includes a physically isolated automatic control unit and a manual intervention unit. The automatic control unit is connected to the water communication module via a first data bus, and the manual intervention unit is independently connected to the monitor via a second data bus.

[0038] In one embodiment, the hydraulic leveling unit includes a first hydraulic cylinder group and a second hydraulic cylinder group arranged in parallel. The first hydraulic cylinder group is vertically connected to the four corners of the chassis of the trenching plow body 22, and the second hydraulic cylinder group is obliquely connected to the side beam of the chassis of the trenching plow body 22.

[0039] Communication link implementation: The main wireless transmission module of the surface system transmits signals to the surface buoys in the 2.4GHz band. The buoy repeater is connected to channel A of the underwater communication module via a zero-buoyancy cable. The backup channel receives signals from the shipborne satellite antenna, amplifies them, and transmits them to the backup satellite transmission module, which is directly connected to channel B of the underwater communication module via a separate cable. The dual-channel signals are switched and output within the underwater communication module via a multiplexer.

[0040] This invention relates to an automated deep-sea trenching plow system. Through feedback from various sensors and monitors, the system achieves automatic control of the actuators, changing the traditional reliance on simple manual control and significantly improving the level of operational intelligence. The system employs a redundant fiber optic communication network, which significantly improves network security compared to traditional communication methods, reducing the risks associated with communication failures in deep-sea operations. The collaborative design between the remote control system and the trenching plow allows operators to acquire sensor and monitor signals in real time via a host computer. When a suspected abnormal signal is detected, the operator can directly intervene to control the actuators. This human-machine collaborative control mechanism ensures the efficiency of automated operations while providing the possibility of manual correction in case of emergencies, reducing the probability of the trenching plow tilting or overturning. Simultaneously, the video acquisition and monitoring system allow operators to visually observe the trenching plow and the underwater environment, aiding in judgment and decision-making, further enhancing the reliability and stability of the operation. The system's automated control and safety design are adaptable to different seabed sediment environments, reducing the need for manual intervention, improving the efficiency and adaptability of trenching operations, and providing more reliable technical support for deep-sea engineering construction.

[0041] The above description is merely a preferred embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural transformations made using the contents of the present invention's specification and drawings under the inventive concept of the present invention, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present invention.

Claims

1. An automated deep-sea trenching plow, characterized in that, The system includes an underwater operation system and a surface remote control system connected via fiber optic communication through a switch. The underwater operation system comprises a trenching plow body, a sensor array fixedly mounted on the trenching plow body, an embedded execution controller mechanically connected to the execution mechanism within the trenching plow body, an execution controller installed inside the trenching plow body, and an underwater communication module electrically connected to the controller. The surface remote control system comprises a host computer, a monitor electrically connected to the host computer, and a surface communication module signal-connected to the host computer. The surface communication module and the underwater communication module establish a bidirectional communication link. The trenching plow body is also equipped with a data acquisition unit and a video acquisition unit; the data acquisition unit is electrically connected to the sensor array, and the video acquisition unit is electrically connected to the monitor array.

2. The automated deep-sea trenching plow equipment according to claim 1, characterized in that, The sensor group includes a sonar detection unit, an inclination sensing unit, and a depth sensing unit; the sonar detection unit is located at the bottom front end of the trenching plow body, the inclination sensing units are symmetrically arranged on both sides of the chassis of the trenching plow body, and the depth sensing unit is located in the middle of the trenching plow body.

3. The automated deep-sea trenching plow equipment according to claim 2, characterized in that, The actuator includes a hydraulic leveling unit and a propulsion control unit; the hydraulic leveling unit is connected to the support arm of the trenching plow body through a hydraulic pipeline, and the propulsion control unit is connected to the tail propeller of the trenching plow body through a drive shaft.

4. The automated deep-sea trenching plow equipment according to claim 1, characterized in that, The controller includes redundant control circuits, which are independently connected to the main communication interface and the backup communication interface, and the main communication interface and the backup communication interface are connected in parallel to the underwater communication module.

5. The automated deep-sea trenching plow equipment according to claim 1, characterized in that, The waterborne communication module adopts a dual-channel communication architecture, including a main wireless transmission module and a backup satellite transmission module, which are connected in parallel to different data interfaces of the host computer.

6. The automated deep-sea trenching plow equipment according to claim 1, characterized in that, The monitor includes a split-screen display unit that is simultaneously connected to at least two independent video input ports via a video distributor.

7. The automated deep-sea trenching plow equipment according to claim 1, characterized in that, It also includes a video acquisition unit mounted on top of the trenching plow body. The video acquisition unit includes a waterproof camera assembly and a gimbal bracket. The waterproof camera assembly is adjustablely fixed to the top frame of the trenching plow body via the gimbal bracket.

8. The automated deep-sea trenching plow equipment according to claim 7, characterized in that, A ring-shaped fill light is provided around the waterproof camera assembly, and the ring-shaped fill light is coaxially mounted with the waterproof camera assembly through a protective cover.

9. The automated deep-sea trenching plow equipment according to claim 1, characterized in that, The host computer includes a physically isolated automatic control unit and a manual intervention unit. The automatic control unit is connected to the water communication module via a first data bus, and the manual intervention unit is independently connected to the monitor via a second data bus.

10. The automated deep-sea trenching plow equipment according to claim 3, characterized in that, The hydraulic leveling unit includes a first hydraulic cylinder group and a second hydraulic cylinder group arranged in parallel. The first hydraulic cylinder group is vertically connected to the four corners of the chassis of the trenching plow body, and the second hydraulic cylinder group is inclinedly connected to the side beam of the chassis of the trenching plow body.

Images