Cutting-trenching and cable-laying operation system and method

Abstract

The present invention relates to the technical field of underwater cable-laying operations, and particularly to a cutting-trenching and cable-laying operation system and method. A cutting mechanism is mounted on the front side of a trench cleaner and is configured to cut a seabed to form a trench, wherein the trench cleaner is configured to move in the trench so as to perfect the profile of the trench. A cable grabbing device grasps a cable on the seabed before trench cutting, lifts the cable onto a cable guiding device and the trench cleaner, and releases the cable located on the cable guiding device and the trench cleaner back to the seabed after trench cutting is completed; and a cable presser is disposed behind the trench cleaner, and a cable guiding channel for cable movement and guidance is formed between the cable presser and the rear side of the trench cleaner. The trench cleaner can form a bearing structure for the cable together with the cable guiding device while perfecting the profile of the trench, so as to isolate the cable from the cutting mechanism, thereby preventing the cable from being cut by the cutting mechanism. During a cable-laying process, the rear side of the trench cleaner cooperates with the cable presser to jointly form the cable guiding channel, thereby guiding the cable, and ensuring that the cable is accurately laid into the trench.

Description

A cutting trenching and cable laying operation system and operation method Technical Field

[0001] The present invention belongs to the technical field of underwater cable laying operations, and in particular relates to a cutting, trenching and cable laying operation system and an operation method. Background Art

[0002] Currently, when trenching and laying cables on the seabed, the most common method is to use a water jet to create trenches. For situations where the soil is not easily broken by the jet or there is a rock layer on the seabed surface, a mechanical cutting trenching device is generally used, which uses cutting teeth to cut the seabed to create a trench. When trenching and laying cables, the cable is first laid on the seabed. The trenching device is then moved along the length of the cable to create a trench with the depth and width required for laying the cable. The cable is then laid in the trench. During this process, as the mechanical cutting trenching device moves to create the trench and the cable falls into the trench, the cutting teeth can easily come into contact with the cable surface and damage the cable, affecting the reliability of the cable laying operation.

[0003] Summary of the Invention

[0004] The technical problem to be solved by the present invention is to provide a method for preventing the cable from being cut by a cutting mechanism, guiding the cable, ensuring that the cable is accurately laid in the trench and ensuring that the laying depth meets the requirements.

[0005] The present invention provides a trenching and cable laying system, comprising:

[0006] fuselage body;

[0007] An underwater walking device, which is arranged on the fuselage body and is used to drive the fuselage body to move underwater;

[0008] A cutting and trenching device is provided on the main body of the machine. The cutting and trenching device comprises a cutting mechanism and a trench cleaner. The cutting mechanism is installed on the front side of the trench cleaner and is used to cut the seabed to form a trench. The trench cleaner is used to move along the trench to improve the trench shape. The top and rear side of the trench cleaner are both arc-shaped.

[0009] a cable guide device, the cable guide device being arranged on the fuselage body and located in front of the cutting mechanism. When the cutting mechanism cuts the seabed, the cable guide device is positioned higher than the cutting mechanism on the fuselage body, and one end of the cable guide device is aligned with the front end of the top of the trench cleaner;

[0010] A cable grabbing device is provided on the main body of the fuselage and is used to grab the cable on the seabed before trenching and lift the cable to the cable guide and trench cleaner, and release the cable on the cable guide and trench cleaner to the seabed after trenching is completed;

[0011] A cable press is provided on the fuselage body or the ditch cleaner and is located at the rear side of the ditch cleaner. A cable guide channel for cable movement and guidance is formed between the cable press and the rear side of the ditch cleaner. A cable press drive is provided on the ditch cleaner for driving the cable press to move or rotate on the ditch cleaner so that the cable can move into or out of the cable guide channel.

[0012] Furthermore, the cable grabbing device includes a rotating drive member, a rotating arm, a telescopic mechanism and a grab. One end of the rotating arm is hinged to the fuselage main body, and the axis of the hinge is set along the forward direction of the fuselage main body during trenching. The rotating drive member is connected between the fuselage main body and the rotating arm to drive the rotating arm to rotate. One end of the telescopic mechanism is fixed to the other end of the rotating arm, and the telescopic mechanism is set horizontally relative to the rotating arm. The grab is set at the other end of the telescopic mechanism.

[0013] Furthermore, two cable grabbing devices are provided, and the two cable grabbing devices are respectively located at the front side and the rear side of the fuselage body, so as to grab the cables at the front side and the rear side of the fuselage body at the same time.

[0014] Furthermore, the cable guiding device includes a cable guiding frame, a frame door, a frame driving mechanism, a door driving component, a horizontal detection mechanism and a vertical detection mechanism. The cable guiding frame is used to accommodate and support the cable. The frame door is arranged on the top of the cable guiding frame. The door driving component drives the frame door to move to open or close the top of the cable guiding frame. The frame driving mechanism is used to drive the cable guiding frame to flip and / or lift. The horizontal detection mechanism is used to detect the horizontal posture of the cable in the cable guiding frame. The vertical detection mechanism is used to detect the vertical posture of the cable in the cable guiding frame. The underwater walking device adjusts the moving path of the fuselage body according to the detection information of the horizontal detection mechanism and the vertical detection mechanism.

[0015] Furthermore, a cable bracket and a bracket driving mechanism are provided on the top of the ditch cleaner. The cable bracket is used to accommodate and support the cable, and the position of the cable bracket is higher than the position of the cable presser. The bracket driving mechanism is used to flip the cable bracket.

[0016] Furthermore, a hydraulic power unit is provided on the main body of the fuselage, and the cable pressing drive, cable grabbing device, frame drive mechanism, door drive and bracket drive mechanism are all provided with driving power through the hydraulic power unit. An emergency control panel is also provided on the main body of the fuselage, and the emergency control panel is provided with a hydraulic connector and several operating switches. The hydraulic connector can be connected to an external oil circuit, and emergency operations can be performed through several switches to control the cable pressing drive, cable grabbing device, frame drive mechanism, door drive and bracket drive mechanism.

[0017] Furthermore, when a cable guiding channel is formed between the cable press and the side of the ditch cleaner facing away from the cutting mechanism, the bottom of the cable press is flush with the bottom of the ditch cleaner, and both sides of the cable press are flush with both sides of the ditch cleaner.

[0018] Furthermore, the cutting mechanism includes a rotating member rotatably arranged on the front side of the ditch cleaner and cutting teeth arranged outside the rotating member. The front side of the ditch cleaner is provided with a spray assembly, and the spray assembly is arranged toward the rotating member and / or the cutting teeth.

[0019] Furthermore, it also includes a suction device, which is arranged on the front side of the fuselage body. The suction device includes a mud suction port and a mud discharge port. The mud suction port is arranged toward the cutting mechanism, and the mud discharge port is arranged obliquely relative to the mud suction port. The suction device is used to discharge the rock and soil generated by the trenching of the cutting mechanism to both sides of the trench.

[0020] The present invention also provides a method for cutting, trenching and laying cables, using the above-mentioned cutting, trenching and laying cable system. The method includes the following steps:

[0021] S1. Lower the cutting, trenching and cable laying system to the seabed where trenching and cable laying is to be carried out, with the main body of the system positioned above the cable and the front side of the system facing the longitudinal direction of the cable;

[0022] S2. The cable press is driven by the cable pressing member to move, thereby opening the space between the cable press and the ditch cleaner. The two cable grabbing devices simultaneously grab the cable at the front and rear sides of the fuselage body, lift the cable, and place it on the cable guide device and the ditch cleaner. The cable press is then driven by the cable pressing member to move, thereby closing the space between the cable press and the ditch cleaner, so that the cable is located in the cable guide channel.

[0023] S3. Start the cutting mechanism and underwater walking device to cut the seabed along the length of the cable to form a trench. The cable is guided by the cable guide device and the cable guide channel and laid into the trench under the action of the cable press.

[0024] The beneficial effect of the present invention is that after the cutting mechanism cuts the seabed to form a trench, the bottom and both sides of the trench cleaner are used to push the side walls and bottom of the trench flat as much as possible. In this process, the rock and soil remaining in the trench after ditching can also be pushed out or flattened by the trench cleaner, thereby improving the trench shape and ensuring that subsequent cables can be laid to the target depth. While the trench cleaner is used to improve the trench shape, the trench cleaner and the cable guide device jointly form a supporting structure for the cable. In conjunction with the setting of the cable grabbing device, the cable is lifted onto the trench cleaner and the cable guide device before the trenching operation, isolating the cable from the cutting mechanism to prevent the cable from being cut by the cutting mechanism. During the cable laying process, the rear side of the trench cleaner cooperates with the cable press to form a cable guide channel to guide the cable and ensure that it is accurately laid in the trench.

[0025] The trench cleaner in the present invention can also block the rock and soil from splashing backwards on the rear side, preventing the rock and soil from splashing backwards and hitting the cable surface causing surface damage. On the other hand, it can prevent the rock and soil from splashing backwards and backfilling into the trench, causing the trench shape to fail to meet the laying depth requirements. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] FIG1 is a schematic structural diagram of the first operating posture of the cutting, trenching and cable laying operating system of the present invention.

[0027] FIG2 is a schematic structural diagram of the second working posture of the cutting trenching and cable laying system of the present invention.

[0028] FIG3 is a schematic structural diagram of the third working posture of the cutting, trenching and cable laying system of the present invention.

[0029] FIG4 is a schematic structural diagram of a first arrangement of a crawler mechanism in the underwater walking device of the present invention.

[0030] FIG5 is a schematic structural diagram of a second arrangement of the crawler mechanism in the underwater walking device of the present invention.

[0031] FIG6 is a schematic diagram of the horizontal posture of the crawler module in the underwater walking device of the present invention.

[0032] FIG7 is a schematic structural diagram of a first configuration of the cutting and ditching device of the present invention.

[0033] FIG8 is a schematic diagram of the spraying direction of the spraying assembly in the first setting mode of the cutting and ditching device of the present invention.

[0034] FIG9 is a schematic structural diagram of a second configuration of the cutting and ditching device of the present invention.

[0035] FIG10 is a schematic diagram of the spraying direction of the spraying assembly in the second setting mode of the cutting and ditching device of the present invention.

[0036] FIG11 is a schematic structural diagram of the cable guide device of the present invention.

[0037] FIG12 is a schematic structural diagram of the cable grabbing device of the present invention.

[0038] FIG13 is a schematic structural diagram of the suction device of the present invention.

[0039] FIG14 is a schematic structural diagram of the emergency control panel of the present invention.

[0040] In the figure: 1. fuselage body; 2. underwater walking device; 21. sliding shoe; 22. crawler mechanism; 221. crawler module; 23. drive module 1; 24. connecting rod; 25. vertical thruster; 26. horizontal thruster; 27. rotatable thruster; 271. connecting rod; 272. thruster body; 3. cutting mechanism; 31. rotating member; 32. cutting teeth; 33. driving wheel; 34. supporting wheel; 35. driven wheel; 36. tensioning drive member; 37. driving gear; 4. ditch cleaner; 41. nozzle 1; 42. nozzle 2; 43. nozzle 3; 44. cable bracket; 45. laying drive member 1; 46. laying drive member 2; 5. cable press; 51. cable press shoe; 52. side plate; 53. detection unit; 6 , cable guide device; 61, cable guide frame; 62, frame door; 63, frame drive mechanism; 631, frame drive part one; 632, frame drive part two; 633, connecting arm; 64, door body drive part; 65, horizontal sensing gantry; 66, horizontal gantry cylinder; 67, vertical sensing gantry; 68, vertical gantry cylinder; 7, cable pressing drive part; 8, cable grabbing device; 81, rotation drive part; 82, rotating arm; 83, telescopic mechanism; 84, grab; 85, opening and closing drive part; 86, force measuring shaft pin; 9, suction device; 91, mud suction port; 92, mud discharge port; 93, centrifugal pump; 94, end cover; 95, end cover drive part; 10, emergency control panel; 101, hydraulic connector; 102 switch; 100, cable. DETAILED DESCRIPTION

[0041] As shown in Figures 1 to 14, the present invention provides a trenching and cable laying system, comprising a main body 1, an underwater traveling device 2, a trenching and cutting device, a cable press 5, a cable guide 6, and a cable grabbing device 8. The underwater traveling device 2 is disposed on the main body 1 and is used to drive the main body 1 to move, thereby driving the trenching and cable laying system to move on the seabed.

[0042] The cutting and trenching device is mounted on the main body 1 and includes a cutting mechanism 3 and a trench cleaner 4. The cutting mechanism 3 is mounted in front of the trench cleaner 4, i.e., in front of the trench cleaner 4 in the trenching length direction, and is used to cut the seabed to form a trench. The trench cleaner 4 is used to move along the trench. The bottom of the trench cleaner 4 is located behind the rotating member 31 in the trenching length direction and is lower than the lowest point of the rotating member 31, ensuring that the bottom of the trench cleaner 4 is as close to or in contact with the trench bottom as possible during trenching operations. The portion of the trench cleaner 4 extending into the trench has a dimension greater than or equal to the dimension of the rotating member 31 in the trenching width direction, ensuring that both sides of the portion of the trench cleaner 4 extending into the trench are as close to or in contact with the trench sidewalls as possible, thereby further improving the trench shape after trenching by the cutting mechanism 3. The top and rear sides of the trench cleaner 4 are curved to match the maximum bending radius of the cable 100.

[0043] The trenching length direction specifically refers to the forward direction of the cutting mechanism 3 during trenching, and the trenching width direction specifically refers to the width direction of the formed trench, that is, the direction perpendicular to the trenching length direction in the transverse direction.

[0044] The cable guide device 6 is arranged on the fuselage main body 1 and is located in front of the cutting mechanism 3. When the cutting mechanism 3 cuts the seabed, the position of the cable guide device 6 on the fuselage main body 1 is higher than the cutting mechanism 3, and one end of the cable guide device 6 is aligned with the top front end of the trench cleaner 4. The cable guide device 6 and the trench cleaner 4 jointly support the cable 100, and cooperate with the cable presser 5 to lay it into the trench according to a fixed path, so as to avoid the cutting mechanism 3 from scratching the cable 100 when cutting and opening the trench.

[0045] The cable grabbing device 8 is arranged on the fuselage body 1, and is used to grab the cable 100 on the seabed before trenching and lift the cable 100 to the cable guide device 6 and the trench cleaner 4, and release the cable 100 on the cable guide device 6 and the trench cleaner 4 to the seabed after trenching is completed.

[0046] The cable press 5 is arranged on the fuselage body 1 or the ditch cleaner 4, specifically on the ditch cleaner 4 and located on the rear side of the ditch cleaner 4, which is the side of the ditch cleaner 4 away from the cutting mechanism 3, and the cable press 5 moves along with the ditch cleaner 4. A cable guide channel for the movement and guidance of the cable 100 is formed between the cable press 5 and the rear side of the ditch cleaner 4, effectively ensuring that the cable 100 is laid into the trench along a fixed path. A cable press drive 7 is provided on the ditch cleaner 4 for driving the cable press 5 to move or rotate on the ditch cleaner 4. When the cable press 5 and the rear side of the ditch cleaner 4 are closed, the above-mentioned cable guide channel is formed. When the cable press 5 and the rear side of the ditch cleaner 4 are opened, the cable 100 can be moved into or out of the cable guide channel.

[0047] The present invention provides a trenching and cable laying system. After the cutting mechanism 3 cuts the seabed to form a trench, the trench cleaner 4 is used at the bottom and both sides to flatten the sidewalls and bottom of the trench as much as possible. In this process, the rock and soil remaining in the trench after trenching can also be pushed out or flattened by the trench cleaner 4, thereby improving the trench shape and ensuring that the subsequent cable 100 can be laid to the target depth. While the trench cleaner 4 is used to improve the trench shape, the trench cleaner 4 and the cable guide 6 together form a support structure for the cable 100. In conjunction with the cable grabbing device 8, the cable 100 is lifted onto the trench cleaner 4 and the cable guide 6 before the trenching operation, isolating the cable 100 from the cutting mechanism 3 to prevent the cable 100 from being cut by the cutting mechanism 3. During the laying process of the cable 100, the rear side of the trench cleaner 4 cooperates with the cable press 5 to form a cable guide channel to guide the cable 100 and ensure that it is accurately laid in the trench.

[0048] The trench cleaner 4 in the present invention can also block the rock and soil from splashing backwards on the rear side, preventing the rock and soil from splashing backwards and hitting the surface of the cable 100, causing damage to its surface. It can also prevent the rock and soil from splashing backwards and backfilling into the trench, causing the trench shape to fail to meet the laying depth requirements.

[0049] The underwater walking system includes a walking mechanism and a propulsion mechanism. The propulsion mechanism is mounted on the main body 1 and is used to generate thrust to assist in the movement and posture adjustment of the underwater walking system. Two walking mechanisms are provided, one on each side of the main body 1. In one embodiment of the present invention, as shown in Figure 4, the walking mechanism comprises a sliding shoe 21, which is fixedly connected to the main body 1. The sliding shoe 21, in conjunction with the thrust generated by the propulsion mechanism, enables the operating system to glide on the seabed. Compared to a track mechanism, the sliding shoe 21 has a simpler structure and is lighter in weight, reducing the overall underwater weight of the operating system and making it suitable for operation on soft soil prone to collapse.

[0050] In another embodiment of the present invention, as shown in Figures 5 and 6, the walking mechanism is a crawler mechanism 22, which is hingedly connected to the fuselage body 1. The two crawler mechanisms 22 both have a moving stroke that is inclined relative to the fuselage body 1, that is, the postures of the two crawler mechanisms 22 on the fuselage body 1 are adjustable. A driving mechanism is correspondingly provided on both sides of the fuselage main body 1, which is used to respectively drive the crawler mechanisms 22 located on both sides of the fuselage main body 1 to move, so as to adjust the posture of the crawler mechanisms 22, thereby adjusting the inclination of the crawler mechanisms 22 relative to the fuselage main body 1 and adjusting the angle between the bottoms of the two crawler mechanisms 22, so that the bottom surfaces of the two crawler mechanisms 22 are on the same horizontal plane to adapt to walking on a flat seabed, or the bottom surfaces of the two crawler mechanisms 22 form an upward or downward angle to adapt to a ridge-like raised seabed or a groove-like depressed seabed, thereby improving the gripping ability of the crawler mechanisms 22 under such seabed terrain and improving the underwater walking performance. The propulsion mechanism can adjust the posture of the device and provide auxiliary thrust for the device. Combined with the thrust of the crawler mechanism 22 itself when working, it meets the thrust requirements for walking on a seabed with soft mud, avoids slipping, further improves the underwater walking performance, meets the walking requirements and reliability of different underwater terrains, improves the flexibility of underwater operations, and broadens the range of operational scenarios.

[0051] In one configuration of the present invention, the single crawler mechanism 22 is a crawler traveling mechanism, that is, only one crawler traveling mechanism is provided on one side of the fuselage body 1 .

[0052] In a preferred configuration of the present invention, as shown in FIG5 , a single track mechanism 22 includes two track modules 221, both of which are hinged to the main body 1 and have a travel range that is tilted relative to the main body 21. A single track module 221 constitutes a track travel mechanism. A single drive mechanism includes two drive modules 1 23, each of which is used to drive the two track modules 221 to rotate about their hinges with the main body 1. In this configuration, a total of four track modules 221 are provided on both sides of the main body 1, and each is driven and adjusted in position by a corresponding drive module 1 23. Therefore, the four track modules 221 can have different tilt angles on a rugged seabed, thereby improving grip and facilitating travel on a seabed with large rock particles.

[0053] The track module 221 is connected to the fuselage main body 1 via a connecting rod 24. It cooperates with the drive module 1 23 to adjust the track module 221's posture. Compared to a rotational drive module that directly drives the track module 221 for rotation, the use of a connecting rod structure improves load-bearing capacity and reduces the strength requirements of the drive module 1 23. Specifically, a single track module 221 is connected to the fuselage main body 1 via two connecting rods 24. As shown in Figure 6, one end of each connecting rod 24 is hinged to the fuselage main body 1, and the other end is hinged to the track module 221, forming a quadrilateral structure. The presence of two connecting rods 24 in a single track module 221 connected to the fuselage main body 1 improves structural strength and distributes load. Given the same load-bearing capacity, a single connecting rod 24 experiences less load, requiring less strength and size. The drive module 1 23 is a linear drive module, such as a cylinder or other linear output drive module. The cylinder's body end is hinged to the fuselage main body 1, and its piston end is hinged to one of the connecting rods 24.

[0054] The propulsion mechanism includes vertical thrusters 25 and horizontal thrusters 26, both of which are mounted on the main fuselage 1. As shown in Figure 4, the vertical thrusters 25 are arranged vertically along the main fuselage 1 and are used to generate vertical thrust to assist the ascent and descent of the operating system. The horizontal thrusters 26 are arranged horizontally along the main fuselage 1 and are used to generate horizontal thrust in the fore-aft or lateral directions of the operating system, providing auxiliary thrust for forward and backward and lateral movement of the operating system and improving the flexibility of underwater operations. There are four vertical propellers 25 distributed around the fuselage body 1. There are four horizontal propellers 26, two of which are arranged on one side of the fuselage body 1, and the other two are arranged on the other side of the fuselage body 1. The four horizontal propellers 26 are all arranged obliquely, so that a single horizontal propeller 26 can provide horizontal oblique thrust for the device, and the two horizontal propellers 26 located on the same side of the fuselage body 1 are symmetrically arranged. When the two horizontal propellers 26 on the same side have the same output power, they can balance each other to achieve horizontal forward or backward thrust.

[0055] The propulsion mechanism also includes a rotatable propeller 27, which is rotatably mounted on the main body 1 and driven by a second drive module mounted on the main body 1 to adjust the inclination of the rotatable propeller 27, thereby adjusting the thrust direction. For example, when the original thrust of the operating system is insufficient to meet the needs of walking on a seabed with fine mud or complex terrain, additional horizontal or vertical thrust can be generated on top of the thrust of the original vertical propeller 25 or horizontal propeller 26 to increase the horizontal or vertical thrust, thereby achieving the walking movement of the operating system. This arrangement allows for the adjustable thrust direction of the rotatable propeller 27, allowing a single rotatable propeller 27 to be used to increase the vertical thrust of the operating system or the horizontal thrust of the device, providing high flexibility. Given the same thruster power and the same maximum vertical and horizontal thrust of the operating system, the total number of propellers can be reduced. The structural principles of the vertical propeller 25, horizontal propeller 26, and propeller body 272 are similar to those of conventional propellers and will not be further described here.

[0056] The present invention is also provided with a cable-finding module, which is arranged on the main body 1 and is located at the front end of the operating system, and has two sets of installation interfaces at different heights. There are two-stage oil cylinders on the frame of the cable-finding module. The first-stage oil cylinder drives the frame of the cable-finding module to rotate, and the second-stage oil cylinder changes the height of the cable-finding module, ultimately achieving four laying heights of the cable-finding module to adapt to different geological conditions and the detection of cables of different diameters. The cable-finding module is specifically a sensor that utilizes electromagnetic induction cables. It is electrically connected to the control system of the operating system and is used to sense the position of the cable and transmit the position information to the control system of the operating system. After judgment and calculation, the control system automatically controls the propulsion mechanism and the walking mechanism, adjusts the overall direction and speed of the operating system, and enables the operating system to automatically follow the length direction of the cable to dig trenches and lay cables, reducing the operator's active intervention and making the trenching and laying process more intelligent.

[0057] The cable grabbing device 8 includes a rotary drive member 81, a rotating arm 82, a telescopic mechanism 83, and a gripper 84. One end of the rotating arm 82 is hinged to the main body 1, with the axis of the hinge arranged along the forward direction of the main body 1 during trenching. The rotary drive member 81 is connected between the main body 1 and the rotating arm 82 and is used to drive the rotating arm 82 to rotate. The rotary drive member 81 is specifically a cylinder, one end of which is hinged to the main body 1 and the other end is hinged to the side of the rotating arm 82. The cylinder drives the rotating arm 82 to flip through its extension and retraction. The telescopic mechanism 83 is specifically a cylinder telescopic arm mechanism, one end of which is fixed to the other end of the rotating arm 82 and is arranged horizontally relative to the rotating arm 82. The gripper 84 is arranged at the other end of the telescopic mechanism 83. The gripper 84 specifically consists of a mounting bracket and two clamping claws hinged to the mounting bracket. The mounting bracket is connected to the other end of the telescopic mechanism 83, so that the gripper 84 is arranged at that end of the telescopic mechanism 83. The mounting frame is specifically connected to this end of the telescopic mechanism 83 via a force-measuring pin 86. This force-measuring pin 86 can be used to detect the load on the gripper 84, thereby detecting the load on the cable 100 during lifting. An opening and closing actuator 85, specifically a hydraulic cylinder, is located between the two clamping jaws. This actuator is used to drive the movement of the two clamping jaws, thereby opening and closing the gripper 84 to grasp and release the cable 100. When the pivoting arm 82 flips, the telescopic mechanism 83 as a whole follows the pivoting arm 82, tilting downward or upward, causing the height of the gripper 84 to change, thereby grasping and moving the cable 100. The cable grabbing device 8 is mounted on the side of the fuselage body 1. Through the cooperation of a rotating arm 82, a telescopic mechanism 83, and a gripper 84, when the cable 100 needs to be grabbed and lifted, the rotating arm 82 and the telescopic mechanism 83 are used to move the gripper 84 downward along the middle of the fuselage body 1 to grab the cable 100, and then move the gripper 84 upward to lift the cable 100 onto the cable guide 6 and the trench cleaner 4. The same process is used to release the cable 100. When not in use, the telescopic mechanism 83 retracts and the rotating arm 82 rotates downward, allowing the entire cable grabbing device 8 to be retracted to the side of the fuselage body 1 without interfering with the use of other tools.

[0058] There are two cable grabbing devices 8, which are respectively located at the front and rear sides of the fuselage body 1 to simultaneously grab the cable 100 at the front and rear sides of the fuselage body 1 to ensure that the cable 100 can be accurately lifted to the cable guide device 6 and the ditch cleaner 4.

[0059] As shown in FIG11 , the cable guide device 6 includes a cable guide frame 61, a frame door 62, a frame drive mechanism 63, a door drive member 64, a horizontal detection mechanism, and a vertical detection mechanism. The cable guide frame 61 is used to accommodate and support the cable 100. Specifically, in the cable guide device 6, the cable guide frame 61 is aligned with the top of the trench cleaner 4. The frame door 62 is provided on the top of the cable guide frame 61. The door drive member 64 drives the frame door 62 to move so that the top of the cable guide frame 61 is opened or closed, so as to facilitate the movement of the cable 100 in and out of the cable guide frame 61. The top of the cable guide frame 61 is closed when the cable 100 is located in the cable guide frame 61, ensuring that the cable 100 is always located in the cable guide frame 61 during trenching and cable laying operations. The driving mechanism is used to drive the cable guide frame 61 to flip and / or lift, the horizontal detection mechanism is used to detect the horizontal posture of the cable 100 in the cable guide frame 61, and the vertical detection mechanism is used to detect the vertical posture of the cable 100 in the cable guide frame 61. The underwater walking device 2 adjusts the moving path of the fuselage body 1 according to the detection information of the horizontal detection mechanism and the vertical detection mechanism.

[0060] The frame drive mechanism 63 includes a first frame drive member 631, a second frame drive member 632, and a connecting arm 633. Both the first and second frame drive members 631 and 632 are hydraulic cylinders. One end of the first frame drive member 631 is hinged to the fuselage body 1, and the other end is hinged to the cable guide frame 61. One end of the connecting arm 633 is hinged to the fuselage body 1, and the other end is hinged to the cable guide frame 61. One end of the second frame drive member 632 is hinged to the fuselage body 1, and the other end is hinged to the connecting arm 633, forming a connecting rod 24 structure. The linkage between the first frame drive member 631, the second frame drive member 632, and the connecting arm 633 drives the cable guide frame 61 to flip and rise and fall.

[0061] The horizontal detection mechanism includes a horizontal sensing gantry 65 and a horizontal gantry cylinder 66. The horizontal gantry cylinder 66 is located on the side of the cable guide frame 61 and is used to drive the horizontal sensing gantry 65 toward the end of the cable guide frame 61. There are two horizontal detection mechanisms, symmetrically located on the side of the cable guide frame 61. The vertical detection mechanism includes a vertical sensing gantry 67 and a vertical gantry cylinder 68. The vertical gantry cylinder 68 is located on the cable guide frame 61 and is used to drive the vertical sensing gantry 67 up and down at the end of the cable guide frame 61. When the cable 100 is located within the cable guide frame 61, the horizontal gantry cylinders 66 in the two horizontal detection mechanisms drive the two horizontal sensing gantries 65 to move toward the end of the cable guide frame 61 to either side of the cable 100. The horizontal gantry cylinders 66 exert a relatively small force on the horizontal sensing gantry 65, while the vertical gantry cylinder 68 drives the vertical sensing gantry 67 upward, positioning it below the cable 100. The vertical gantry cylinder 68 also exerts a relatively small force on the vertical sensing gantry 67. The cable 100 is located above the vertical sensing gantry 67 and between the two horizontal sensing gantries 65. Displacement sensors are installed on both the horizontal gantry cylinder 66 and the vertical gantry cylinder 68, and the displacement sensors are all electrically connected to the control system of the operating system. The displacement changes sensed by all the displacement sensors are used to detect the deflection angle of the cable 100 at the entrance of the cable guide frame 61 and feedback is given to the control system of the operating system. The control system controls the movement of the underwater walking device 2 based on the feedback signal, thereby controlling the movement path of the operating system so that it can automatically correct the movement path along the length of the cable 100 and ensure the reliable radial direction of the automated operation. When the cable 100 is inside the cable guide frame 61, gravity presses down on the vertical sensing gantry. The displacement changes sensed by the displacement sensors on the vertical gantry cylinder 68 are used to determine whether the cable 100 has fallen into the cable guide frame 61, as well as the vertical angle of the cable 100 and whether it is suspended in the air, so that the operator can make corresponding controls in a timely manner.

[0062] A cable 100 bracket 44 and a bracket driving mechanism are provided on the top of the ditch cleaner 4. The cable 100 bracket 44 is used to accommodate and support the cable 100, and the position of the cable 100 bracket 44 is higher than that of the cable presser 5. It is used to guide the cable 100 to prevent the cable 100 located on the top of the ditch cleaner 4 from sliding sideways. The bracket driving mechanism is used to flip the cable 100 bracket 44 and release the cable 100.

[0063] A hydraulic power unit is provided on the fuselage body 1, and the cable pressing drive component 7, the frame drive mechanism 63, the door body drive component 64, the bracket drive mechanism and the rotating drive component 81, the telescopic mechanism 83, and the opening and closing drive component 85 in the cable grabbing device 8 are all provided with hydraulic oil by the hydraulic power unit, that is, under normal operating conditions, the driving power is provided by the hydraulic power unit.

[0064] Under normal operation, the cable press 5 is driven to move by the cable pressing drive 7, so that the space between the cable press 5 and the ditch cleaner 4 is opened, and the two cable grabbing devices 8 are used to grab the cable 100 at the front and rear sides of the fuselage body 1 at the same time, so that the cable 100 is lifted and placed on the cable guide frame 61 and the ditch cleaner 4, and the frame door 62 is driven to close by the door body driving member 64, and the cable press 5 is driven to move by the cable pressing drive 7, so that the space between the cable press 5 and the ditch cleaner 4 is closed, so that the cable 100 is located in the cable guide channel. After the trenching and cable laying operation is completed, when the cable 100 is released, the frame door 62 is driven to open by the door body driving member 64, and the cable press 5 is driven to move by the cable pressing drive 7, so that the space between the cable press 5 and the ditch cleaner 4 is opened, and the cable 100 is grabbed and lowered to the seabed by the two cable grabbing devices 8, or the frame driving mechanism 63 is used to drive the cable guide frame 61 to flip sideways, and the bracket driving mechanism cable 100 bracket 44 to flip sideways, thereby releasing the cable 100.

[0065] Since the cable 100 is constrained in the cable guide frame 61, the cable 100 bracket 44, and the cable guide channel during trenching and cable laying in the present invention, when the operating system fails and loses communication and power, the cable 100 cannot be released normally. Preferably, an emergency control panel 10 is also provided on the fuselage body 1. The emergency control panel 10 is connected to the cable pressing drive 7, the frame drive mechanism 63, the door drive 64, the bracket drive mechanism, and the rotary drive 81, the telescopic mechanism 83, and the opening and closing drive 85 in the cable grabbing device 8. The emergency control panel 10 is provided with a hydraulic connector 101 and several operating switches 102. The hydraulic connector 101 is used to connect to the external oil circuit. When the operating system fails and loses communication and power, a robot with its own hydraulic power is lowered from the ship. The robot connector is inserted into the hydraulic connector 101 for docking, connecting the robot's oil circuit, and the robot's manipulator operates the corresponding switch 102 to control the action of the corresponding mechanism to release the cable 100, so that the operating system can be recovered without cutting the cable 100.

[0066] When a cable guide channel is formed between the cable press 5 and the side of the trench cleaner 4 facing away from the cutting mechanism 3, the bottom of the cable press 5 is flush with the bottom of the trench cleaner 4, and the two sides of the cable press 5 are flush with the two sides of the trench cleaner 4. While playing the role of cable compression, it can also further improve and maintain the trench shape behind the trench cleaner 4, ensuring that the trench shape meets the laying requirements before the cable 100 sinks to the bottom of the trench.

[0067] The cable press 5 specifically includes a cable press shoe 51 and side panels 52 fixedly mounted on either side of the cable press shoe 51. The two side panels 52 form the sides of the cable press 5. The curvature of the side of the two side panels 52 proximal to the ditch cleaner 4 matches the curvature of the side of the ditch cleaner 4 facing away from the cutting mechanism 3. The bottom of the two side panels 52 constitutes the bottom of the cable press 5. The cable press shoe 51 is hollowed out and is provided with a detection unit 53, which is electrically connected to the control system of the operating system and is used to detect whether the cable 100 is located below the cable press shoe 51. The detection unit 53 may be a proximity sensor or other detection element.

[0068] The cutting mechanism 3 includes a rotating member 31 rotatably disposed at the front side of the ditch cleaner 4 and cutting teeth 32 disposed outside the rotating member 31. A spray assembly is disposed at the front side of the ditch cleaner 4, and the spray assembly is disposed toward the rotating member 31 and / or the cutting teeth 32. The spray assembly can spray a jet to flush the rotating member 31 and the cutting teeth 32, causing rock and soil on the rotating member 31 and the cutting teeth 32 to fall off, ensuring the contact area between the cutting teeth 32 and the forward cutting position, thus ensuring the effectiveness of the cutting operation. It can also prevent rock and soil from getting stuck between the rotating member 31 and the ditch cleaner 4, causing the rotating member 31 to be unable to rotate normally, and ensuring that the ditching operation is carried out continuously and reliably.

[0069] In one embodiment of the present invention, as shown in Figures 7 and 8, the rotating member 31 is a chain, and the ditch cleaner 4 is provided with a transmission wheel assembly, which includes a driving wheel 33, a supporting wheel 34, and a driven wheel 35. The chain is mounted on the driving wheel 33, the supporting wheel 34, and the driven wheel 35. The driving wheel 33 and the power mechanism provided on the ditch cleaner 4 drive the rotation, thereby providing driving force for the rotation of the chain. The power mechanism can be an underwater motor or other mechanism capable of rotating underwater. The driven wheel 35 and the support wheel 34 are positioned lower than the driving wheel 33, while the support wheel 34 is positioned higher than the driven wheel 35. The support wheel 34 is located in front of the driving wheel 33 and the driven wheel 35 in the ditching length direction, while the driven wheel 35 is located behind the driving wheel 33 in the ditching length direction. This causes the entire chain to be tilted relative to the plumb line, and the portion of the chain between the support wheel 34 and the driven wheel 35 is also tilted relative to the plumb line, facilitating the ditching operation. In this arrangement, the driving wheel 33 is positioned highest, so that the power mechanism connected to it is positioned higher on the ditch cleaner 4, which is beneficial for protection. The support wheel 34 bears a large load, and the driving wheel 33 is mainly used to transmit power and bears a small load, so the driving wheel 33 and the power mechanism are not easily damaged.

[0070] Based on the above embodiment, in one configuration of the present invention, a mounting plate is provided on the ditch cleaner 4, and the driving wheel 33, the supporting wheel 34, and the driven wheel 35 are all rotatably mounted on the mounting plate. In another configuration of the present invention, a tensioning drive 36 is further included. The tensioning drive 36 is specifically a hydraulic cylinder. The ditch cleaner 4 is provided with a mounting plate, and the driving wheel 33 and the supporting wheel 34 are rotatably mounted on the ditch cleaner 4. The cylinder end of the tensioning drive 36 is mounted on the mounting plate of the ditch cleaner 4, and a bracket is provided on the movable end of the tensioning drive 36. The driven wheel 35 is rotatably mounted on the bracket at the same end of the tensioning drive 36. The tensioning drive 36 drives the driven wheel 35 to move, thereby adjusting the tension of the chain and maintaining the chain in an optimal working state.

[0071] Based on the above embodiment, the portion of the chain located between the support wheel 34 and the driven wheel 35 is tilted relative to the plumb bob. The chain rotates along the upper portion of the ditch cleaner 4 toward the lower portion of the ditch cleaner 4, i.e., counterclockwise from the perspective of Figure 8 . The spray assembly includes two sets of nozzles 41: one set of nozzles 41 is located above the ditch cleaner 4 and above the chain, and the other set of nozzles 41 is located below the ditch cleaner 4. Both sets of nozzles 41 are tilted downwardly toward the length of the ditch and toward the chain. The direction of the jet is specifically the direction of the arrow shown in Figure 8 . The jet direction of the nozzles 41 located above the ditch cleaner 4 is specifically set relative to the direction of movement of the chain between the support wheel 34 and the driven wheel 35, forming a counter-impact. The jets ejected by the nozzles 41 located above the ditch cleaner 4, in conjunction with the movement of the chain, can effectively flush away rock and soil adhering to the chain and cutting teeth 32, preventing a large amount of rock and soil from entering between the ditch cleaner 4 and the chain as the chain rotates and causing it to get stuck. The jet direction of the nozzles 41 located below the ditch cleaner 4 is specifically set toward the lower end of the chain, used to flush the lower end of the chain. This can prevent rock and soil from splashing upward and getting stuck between the ditch cleaner 4 and the chain, and can also prevent rock and soil pushed forward by the ditch cleaner 4 from being squeezed upward between the ditch cleaner 4 and the chain.

[0072] Based on the above embodiment, the spray assembly further includes a second nozzle 42, which is disposed on the connecting plate of the ditch cleaner 4 and located inside the chain. The spray direction of the second nozzle 42 is disposed toward the portion of the chain located between the support wheel 34 and the driven wheel 35, that is, the jet ejected by the second nozzle 42 is directed toward the portion of the chain located between the support wheel 34 and the driven wheel 35 and is perpendicular to the portion. The jet direction is specifically as shown. Due to the structural characteristics of the chain, which is generally hollow, the jet ejected by the second nozzle 42 passes through the chain to flush the chain and the cutting teeth 32, causing the rock and soil to fall off. At the same time, it can form a jet inclined downward along the length of the ditch, assisting the chain in the ditching operation and also flushing away the rock and soil generated by the ditching.

[0073] The nozzle 1 41 and the nozzle 2 42 are connected to the water pump mechanism through a pipeline, and the water pump mechanism provides the nozzle 1 41 and the nozzle 2 42 with a jet that meets the water pressure requirement.

[0074] In another embodiment of the present invention, as shown in Figures 9 and 10, the rotating member 31 is a wheel body, which is annular in shape. The cutting teeth 32 are arranged on the outer ring of the wheel body, and the inner ring of the wheel body is provided with teeth. The wheel body is rotatably connected to the ditch cleaner 4 via a bracket, and the rotational connection is located in the middle of the wheel body, ensuring that the wheel body rotates about its own axis. The ditch cleaner 4 is also provided with a drive gear 37 for rotation. The drive gear 37 meshes with the upper end of the inner ring of the wheel body. The drive gear 37 is driven by a power mechanism provided on the ditch cleaner 4 to provide driving force for the wheel body. The power mechanism can be an underwater motor or other mechanism capable of rotating underwater. In this arrangement, the drive gear 37 is positioned higher, so the corresponding power mechanism can also be arranged higher, which is convenient for protection. At the same time, the middle of the wheel body provides rotational support. Therefore, the drive gear 37 is mainly used to transmit torque, and it bears less load, making it and the power mechanism less susceptible to damage. Among them, the number of driving gears 37 can be set to one, and in the present invention, it is preferably set to two. The two driving gears 37 are arranged at intervals and are both engaged with the upper end of the inner ring of the wheel body to jointly provide power for the wheel body. This setting method can reduce the size of a single driving gear 37 while meeting the strength requirements, so that it can remain at the upper end of the inner ring of the wheel body, which is conducive to protection.

[0075] Based on the above embodiment, the wheel body rotates along the upper portion of the ditch cleaner 4 toward the lower portion thereof, i.e., clockwise from the perspective of Figure 9 . The spray assembly includes a third nozzle 43 , which is positioned above the ditch cleaner 4 and specifically on the side of the wheel body. The nozzle 43 sprays toward the wheel body and cutting teeth 32, specifically in the direction of the arrow shown in Figure 10 . As shown in Figure 9 , the third nozzle 43 is positioned in front of the drive gear 37 along the length of the trench. This allows the wheel body and cutting teeth 32 to be flushed before the drive gear 37. This prevents rock and soil from becoming lodged between the wheel body and the ditch cleaner 4 and also prevents rock and soil from interfering with the meshing transmission between the drive gear 37 and the wheel body.

[0076] Among them, the nozzle three 43 is connected to the water pump mechanism through a pipeline, and the water pump mechanism provides the nozzle three 43 with a jet that meets the water pressure requirements.

[0077] Based on the above two embodiments, there are several cutting teeth 32. Since it is necessary to ensure that the depth of the trench opened meets the laying requirements during the trenching operation, no matter whether the rotating part 31 is a chain or a wheel body, it needs to have a certain width dimension in the trenching width direction. As shown in Figure 10, several cutting teeth 32 are staggered on the outside of the rotating part 31, and several cutting teeth 32 can also be provided with at least two circles on the outside of the rotating part 31, so that when the rotating part 31 rotates, the rock and soil within the target cutting width on the seabed can contact the cutting teeth 32, ensuring that the trenching width meets the requirements.

[0078] When rock and soil are stuck between the ditch cleaner 4 and the rotating member 31 , the rotating member 31 can also be driven to rotate in the opposite direction to push the rock and soil out.

[0079] The main body 1 is also provided with a deploying and recovering mechanism, which includes a deploying drive member 1 45 and a deploying drive member 2 46. The deploying drive member 1 45 and the deploying drive member 2 46 are specifically oil cylinders. The cylinder ends of the deploying drive member 1 45 and the deploying drive member 2 46 are hinged to the main body 1 of the underwater operation system, and the movable ends are hinged to different positions on the ditch cleaner 4. As shown in Figure 2, it is the recovery state of the ditch cleaner 4. At this time, the ditch cleaner 4 and the cutting mechanism 3 are tilted as a whole. The movable ends of the deploying drive member 1 45 and the deploying drive member 2 46 are both in a fully retracted state. As shown in Figure 3, it is the lowest position of the ditch cleaner 4 of this device. At this time, the bottoms of the ditch cleaner 4 and the cable press 5 are both horizontal. When it is from the recovery state to the deployment state shown in Figure 3, the extending lengths of the movable ends of the deploying drive member 1 45 and the deploying drive member 2 46 are different. During the laying process, by adjusting the extended lengths of the movable ends of the laying drive member 1 45 and the laying drive member 2 46, the laying height of the device can be adjusted while keeping the bottoms of the ditch cleaner 4 and the cable press 5 horizontal.

[0080] The present invention also includes a suction device 9, which is arranged on the front side of the fuselage body 1. The suction device 9 includes a mud suction port and a mud discharge port 92. The mud suction port is arranged toward the cutting mechanism 3, and the mud discharge port 92 is arranged obliquely relative to the mud suction port. The mud discharge port 92 faces the side of the fuselage body 1. The suction device 9 is provided with a centrifugal pump 93, which provides suction power. The suction device 9 is used to pump the mud and gravel generated by the trenching of the cutting mechanism 3 to both sides of the trench. Among them, the suction device 9 is provided with an end cover 94 and an end cover drive 95 at the end of the mud discharge port 92. The end cover drive 95 drives the end cover 94 to move to open and close the mud discharge port 92 or adjust the opening of the mud discharge port 92. When blockage occurs inside the suction device 9, the end cover driving member 95 is added to drive the end cover 94 to move to close the mud discharge port 92. After the internal pressure of the suction device 9 is increased, the end cover 94 is opened again, and the internal pressure is used to flush the blocked rock and soil along the mud discharge port 92 to clear the blockage.

[0081] The present invention also provides a cutting trenching and cable laying operation method, which uses the cutting trenching and cable laying operation system as described above, and the operation method includes the following steps:

[0082] S1. Land the cutting trenching and cable laying operation system on the seabed where trenching and cable laying is to be carried out, position the fuselage body 1 above the cable 100, and direct the front side of the fuselage body 1 toward the length direction of the cable 100. At this time, the posture of the operation system is shown in FIG1 .

[0083] S2. As shown in FIG2 , the cable press 5 is driven to move by the cable pressing driving member 7, so that the space between the cable press 5 and the ditch cleaner 4 is opened. The two cable grabbing devices 8 simultaneously grab the cable 100 at the front and rear sides of the fuselage body 1, so that the cable 100 is lifted and placed on the cable guide device 6 and the ditch cleaner 4. The cable press 5 is then driven to move by the cable pressing driving member 7, so that the space between the cable press 5 and the ditch cleaner 4 is closed, so that the cable 100 is located in the cable guide channel.

[0084] S3, start the cutting mechanism 3 and the underwater walking device 2, cut the seabed along the length direction of the cable 100 to form a trench, and the cable 100 is guided by the cable guide device 6 and the cable guide channel and laid into the trench under the action of the cable press 5.

[0085] Those skilled in the art should understand that the discussion of any of the above embodiments is merely illustrative and is not intended to imply that the scope of protection of the present application is limited to these examples. In line with the present application, the technical features in the above embodiments or different embodiments may be combined, the steps may be implemented in any order, and there are many other variations of different aspects of one or more embodiments of the present application as described above, which are not provided in detail for the sake of simplicity.

[0086] The one or more embodiments of this application are intended to encompass all such substitutions, modifications, and variations that fall within the broad scope of this application. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of one or more embodiments of this application should be included in the scope of protection of this application.

Claims

1. A cutting trenching and cable laying system, characterized in that: include: The main body of the fuselage (1); An underwater walking device (2), wherein the underwater walking device (2) is arranged on the fuselage body (1) and is used to drive the fuselage body (1) to move underwater; A cutting and ditching device, the cutting and ditching device is arranged on the fuselage body (1), and comprises a cutting mechanism (3) and a ditch cleaner (4). The cutting mechanism (3) is installed on the front side of the ditch cleaner (4) and is used to cut the seabed to form a trench. The ditch cleaner (4) is used to move along the trench to improve the trench shape, and the top and rear side of the ditch cleaner (4) are both arc-shaped; A cable guide device (6), the cable guide device (6) being arranged on the fuselage body (1) and located in front of the cutting mechanism (3); when the cutting mechanism (3) cuts the seabed, the position of the cable guide device (6) on the fuselage body (1) is higher than the cutting mechanism (3), and one end of the cable guide device (6) is aligned with the top front end of the ditch cleaner (4); A cable grabbing device (8), the cable grabbing device (8) being arranged on the main body (1) and being used for grabbing the cable (100) on the seabed before trenching and lifting the cable (100) onto the cable guide device (6) and the trench cleaner (4), and releasing the cable (100) on the cable guide device (6) and the trench cleaner (4) onto the seabed after trenching is completed; A cable press (5) is arranged on a fuselage body (1) or a ditch cleaner (4) and is located at the rear side of the ditch cleaner (4). A cable guide channel for the movement and guidance of a cable (100) is formed between the cable press (5) and the rear side of the ditch cleaner (4). A cable press driving member (7) is arranged on the ditch cleaner (4) for driving the cable press (5) to move or rotate on the ditch cleaner (4) so ​​that the cable (100) can move into or out of the cable guide channel.

2. The cutting trenching and cable laying system according to claim 1, characterized in that: The cable grabbing device (8) comprises a rotary drive member (81), a rotating arm (82), a telescopic mechanism (83) and a gripper (84); one end of the rotating arm (82) is hinged to the main body (1), and the axis of the hinge is arranged along the forward direction of the main body (1) during trenching; the rotary drive member (81) is connected between the main body (1) and the rotating arm (82) and is used to drive the rotating arm (82) to rotate; one end of the telescopic mechanism (83) is fixed to the other end of the rotating arm (82), and the telescopic mechanism (83) is arranged transversely relative to the rotating arm (82); and the gripper (84) is arranged at the other end of the telescopic mechanism (83).

3. The cutting trenching and cable laying system according to claim 1 or 2, characterized in that: Two cable grabbing devices (8) are provided, and the two cable grabbing devices (8) are respectively located at the front side and the rear side of the fuselage body (1) so as to grab the cable (100) at the front side and the rear side of the fuselage body (1) at the same time.

4. The cutting trenching and cable laying system according to claim 1 or 2, characterized in that: The cable guide device (6) comprises a cable guide frame (61), a frame door (62), a frame driving mechanism (63), a door driving member (64), a horizontal detection mechanism and a vertical detection mechanism. The cable guide frame (61) is used to accommodate and support the cable (100). The frame door (62) is arranged on the top of the cable guide frame (61). The door driving member (64) drives the frame door (62) to move so that the top of the cable guide frame (61) is opened or closed. The frame driving mechanism (63) is used to drive the cable guide frame (61) to flip and / or rise and fall. The horizontal detection mechanism is used to detect the horizontal posture of the cable (100) in the cable guide frame (61). The vertical detection mechanism is used to detect the vertical posture of the cable (100) in the cable guide frame (61). The underwater walking device (2) adjusts the moving path of the fuselage body (1) according to the detection information of the horizontal detection mechanism and the vertical detection mechanism.

5. The cutting trenching and cable laying system according to claim 4, characterized in that: A cable (100) bracket (44) and a bracket driving mechanism are arranged on the top of the ditch cleaner (4); the cable (100) bracket (44) is used to accommodate and support the cable (100), and the position of the cable (100) bracket (44) is higher than the position of the cable presser (5); and the bracket driving mechanism is used to flip the cable (100) bracket (44).

6. The cutting trenching and cable laying system according to claim 5, characterized in that: The fuselage body (1) is provided with a hydraulic power unit, and the cable pressing drive component (7), the cable grabbing device (8), the frame drive mechanism (63), the door drive component (64) and the bracket drive mechanism are all provided with driving power by the hydraulic power unit. The fuselage body (1) is also provided with an emergency control panel (10), and the emergency control panel (10) is provided with a hydraulic joint (101) and a plurality of operating switches (102). The hydraulic joint (101) can be connected to an external oil circuit, and the cable pressing drive component (7), the cable grabbing device (8), the frame drive mechanism (63), the door drive component (64) and the bracket drive mechanism are correspondingly controlled through the plurality of switches (102) to perform emergency operations.

7. The cutting trenching and cable laying system according to any one of claims 1, 2, 5 and 6, characterized in that: When a cable guide channel is formed between the cable presser (5) and the side of the ditch cleaner (4) facing away from the cutting mechanism (3), the bottom of the cable presser (5) is flush with the bottom of the ditch cleaner (4), and the two sides of the cable presser (5) are flush with the two sides of the ditch cleaner (4).

8. The cutting trenching and cable laying system according to any one of claims 1, 2, 5 and 6, characterized in that: The cutting mechanism (3) comprises a rotating member (31) rotatably arranged at the front side of the ditch cleaner (4) and a cutting tooth (32) arranged outside the rotating member (31); a spray assembly is arranged at the front side of the ditch cleaner (4), and the spray assembly is arranged toward the rotating member (31) and / or the cutting tooth (32).

9. The cutting trenching and cable laying system according to any one of claims 1, 2, 5 and 6, characterized in that: The invention also comprises a suction device (9), which is arranged on the front side of the fuselage body (1), and comprises a mud suction port and a mud discharge port (92). The mud suction port is arranged toward the cutting mechanism (3), and the mud discharge port (92) is arranged obliquely relative to the mud suction port. The suction device (9) is used to discharge the rock and soil produced by trenching of the cutting mechanism (3) to both sides of the trench.

10. A method for cutting trenches and laying cables, characterized in that: Using the cutting trenching and cable laying operation system as described in any one of claims 3 to 9, the operation method includes the following steps: S1, lowering the trenching and cable laying operation system onto the seabed where trenching and cable laying is to be carried out, positioning the fuselage body (1) above the cable (100), and aligning the front side of the fuselage body (1) with the length direction of the cable (100); S2, driving the cable press (5) to move by means of the cable press driving member (7), so that the space between the cable press (5) and the ditch cleaner (4) is opened, and the cable (100) is simultaneously grabbed at the front and rear sides of the fuselage body (1) by means of two cable grabbing devices (8), so that the cable (100) is lifted and placed on the cable guide device (6) and the ditch cleaner (4), and then driving the cable press (5) to move by means of the cable press driving member (7), so that the space between the cable press (5) and the ditch cleaner (4) is closed, so that the cable (100) is located in the cable guide channel; S3, starting the cutting mechanism (3) and the underwater walking device (2), cutting the seabed along the length direction of the cable (100) to form a trench, and the cable (100) is guided by the cable guide device (6) and the cable guide channel, and is laid into the trench under the action of the cable press (5).

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