Active backfilling operation system and method for subsea trenching and cable burial

Abstract

The present invention relates to the technical field of underwater operation, and in particular to an active backfilling operation system and method for subsea trenching and cable burial. An underwater traveling device is provided at the lower end of a main unit body; a trenching device is provided at the front end of the main unit body; a backfilling device comprises backfilling modules, and the backfilling modules are each provided with a first jetting nozzle for being oriented toward the surface of the seabed and a second jetting nozzle for being oriented toward the inner side wall of a trench; the first jetting nozzle is inclined downward toward the second jetting nozzle, the second jetting nozzle is inclined upward toward the first jetting nozzle, and the jetting directions of the first jetting nozzle and the second jetting nozzle are set opposite to each other; and there are two backfilling modules which are arranged at the rear end of the main unit body. When applied to different subsea environments, on the basis of different seabed soil textures, the present invention can ensure that a cable is buried quickly after effectively falling into a trench, improving the operation efficiency and the operation quality. The present invention has a wider range of applicable scenarios for subsea operation and greater flexibility of use.

Description

A submarine trenching and cable burying active backfilling operation system and operation method Technical Field

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

[0002] When laying cables on the seabed, trenching and burying are necessary to ensure the safety and stability of the cables and protect them from damage caused by waves, marine life, anchors, and other factors. A trenching device is first used to create a trench of a certain depth and width on the seabed. The cable is then laid into the trench, buried to the desired depth, and then covered to prevent exposure. Currently, the most common method for cable burial is natural burial, where the cable is lowered to the bottom of the trench and then washed away by ocean currents, causing the seabed to naturally fill with mud and soil. However, for soft, brittle seabeds prone to collapse, and for small cable diameters, natural backfill can be achieved within a certain period of time. However, for larger cable diameters, the required trench width and depth increase, requiring a large amount of mud and soil to bury the cable. Relying on natural backfill by ocean currents is inefficient, time-consuming, and difficult to ensure complete cable burial. This is especially true for hard, viscous seabeds, which are less prone to natural loosening and collapse, making it difficult to fully bury the cable.

[0003] Summary of the Invention

[0004] The technical problem to be solved by the present invention is to provide a submarine trenching and cable burying active backfilling operation system and operation method that can quickly and actively backfill the cable when it falls into the trench during trenching and cable burying operations on seabeds with different soil types, ensuring that the cable is completely buried, improving operation efficiency and operation quality, and having a wider range of usage scenarios, higher flexibility, and is particularly suitable for operations on hard soil seabeds.

[0005] The present invention provides a submarine trenching and cable burying active backfilling operation system, comprising:

[0006] fuselage body;

[0007] An underwater walking device, the underwater walking device being arranged at the lower end of the fuselage body;

[0008] A trenching device, which is arranged at the front end of the fuselage body and is used to open a trench on the seabed;

[0009] A backfilling device, a backfilling module is arranged on the fuselage main body, the backfilling device includes a backfilling module, the backfilling module is provided with a spray nozzle 1 and a spray nozzle 2, the spray nozzle 1 is used to face the seabed surface and is located on one side of the trench, the spray nozzle 2 is used to extend into the trench and face the inner wall on one side of the trench, the spray nozzle 1 is arranged downwardly in the direction of the spray nozzle 2, and the spray nozzle 2 is arranged upwardly in the direction of the spray nozzle 1, there is a gap between the spray nozzle 1 and the spray nozzle 2, and the spraying directions of the two are arranged relative to each other; there are two backfilling modules, the two backfilling modules are symmetrically arranged at the rear end of the fuselage main body, corresponding to the two sides of the trench respectively, and there is a gap between the two backfilling modules for the cables to pass through.

[0010] Furthermore, the trenching device is a mechanical cutting and breaking device.

[0011] Furthermore, the trenching device is a jet-breaking device, which includes a deployment mechanism one and two jet arms. The deployment mechanism one is arranged on the fuselage main body, and the two jet arms are arranged on the deployment mechanism one and located at the front end of the fuselage main body. Both of the jet arms are provided with a front nozzle for spraying jets to open a trench on the seabed, and there is a gap between the two jet arms for the cable to pass through.

[0012] Furthermore, the distance between the two spray arms is adjustable to open trenches of different widths, and the distance between the two backfill modules is adjustable to correspond to trenches of different widths.

[0013] Furthermore, the two spray arms are movably arranged on the deployment mechanism one, and the spray breaking device also includes a driving mechanism three, which is arranged on the deployment mechanism one or between the two spray arms. The driving mechanism three drives the two spray arms to move along the deployment mechanism one to adjust the distance between the two spray arms.

[0014] Furthermore, the backfilling device also includes a power mechanism, which drives the two backfilling modules to move to adjust the distance between the two backfilling modules.

[0015] Furthermore, the two backfill modules are both backfill pipes, each of which is provided with a water inlet end, and the backfill pipe is bent, with one end being arranged above one side of the seabed and the other end being arranged to extend into the trench, the first spray nozzle is located at the end of the backfill pipe arranged above the seabed, and the second spray nozzle is located at the end of the backfill pipe extending into the trench;

[0016] In the backfill pipe, the end for being arranged above one side of the seabed is a retractable structure, and / or the end for being arranged above one side of the seabed and the end for being arranged to extend into the trench are detachably connected.

[0017] Furthermore, the deployment mechanism drives the two spray arms to move along the height direction of the fuselage body to adjust the deployment height of the two spray arms. A single spray arm includes an array of spray pipes. The array of spray pipes has different lengths, and the array of spray pipes is arranged in parallel in order of length. The array of spray pipes is provided with a front nozzle. Among the array of spray pipes, the front nozzle of the shortest spray pipe is arranged on the side of the spray pipe away from the other spray pipes, and the front nozzles of the other spray pipes are arranged in an area longer than the adjacent spray pipes, and the front nozzles on all the spray pipes are arranged in the same direction, and a diversion plug is provided on the water inlet end of the spray arm for blocking or opening part of the spray pipes on the shorter side of the array of spray pipes.

[0018] Furthermore, it also includes a cable press, which is arranged on the fuselage body and located between the trenching device and the backfilling device, and is used to press the cable into the bottom of the trench after the trenching device opens the trench and before the backfilling device breaks the soil to backfill the trench.

[0019] The present invention also provides a method for active backfilling of submarine trenching and cable burial, using the above-mentioned active backfilling system for submarine trenching and cable burial. The method comprises the following steps:

[0020] S1. Lower the submarine trenching and cable burying active backfilling operation system to the seabed where the trenching and cable burying are to be done. Drive the entire operation system to move on the seabed by the underwater walking device, and use the trenching device to open a trench on the seabed, and lower the cable into the trench.

[0021] S2. Position the first jet nozzles in the two backfill modules outside the trench on both sides, and tilt the first jet nozzles in the two backfill modules downwardly in the direction of the trench toward the seabed surface. Extend the second jet nozzles in the two backfill modules into the trench, correspondingly positioned on both sides of the cable. Position the second jet nozzles in the two backfill modules upwardly at the bottom of the trench, correspondingly toward the inner walls on both sides of the trench.

[0022] S3. In a single backfill module, the jet ejected from nozzle 1 and the jet ejected from nozzle 2 form a counter-jet, which breaks the soil between the inner wall of the trench on one side where the backfill module is located and the seabed surface, causing the soil to loosen and collapse into the trench for backfill, burying the cables.

[0023] The beneficial effect of the present invention is that when trenching and cable burying operations are carried out, the second nozzles of the two backfill modules are located at the bottom of the trench in the trench, and spray jets obliquely from bottom to top toward the inner walls on both sides of the trench, and the first nozzles of the two backfill modules are located outside the trench on both sides and spray jets obliquely downward toward the seabed surface. The first nozzle and the second nozzle in a single backfill module jointly form a counter-jet, which flushes the soil between the inner wall of the trench and the seabed surface, causing the soil to loosen and collapse and be backfilled into the trench to bury the cables, quickly performing active backfilling and avoiding safety hazards caused by long-term exposure of the cables. For seabeds with softer soil, the present invention can use counter-jet to accelerate the collapse speed of the soil on both sides of the trench after the cable falls into the trench, so that it can be backfilled more quickly, completely burying the cables in a shorter time, and improving work efficiency and work quality. Compared to the unilateral jet impact method, the present invention uses opposing jets in corresponding oblique directions. Under the impact of the jets on both sides, it can also effectively break the soil between the inner wall of the trench and the seabed surface, causing it to loosen and collapse into the trench, ensuring the complete burial of the cable. Therefore, when the present invention is used for trenching and cable burial operations in different seabed environments, it can ensure that the cable is quickly buried after effectively falling into the trench, depending on the different seabed soil types, thereby improving operational efficiency and quality, and having a wider range of applicable scenarios for seabed operations and greater flexibility of use. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] FIG1 is a structural diagram of the underwater jet trenching and cable burying system of the present invention in operation posture.

[0025] FIG2 is a schematic structural diagram of the underwater walking device of the present invention.

[0026] FIG3 is a schematic structural diagram of a rotatable propeller in the underwater walking device of the present invention.

[0027] FIG4 is a schematic structural diagram of a first arrangement of a crawler mechanism in the underwater walking device of the present invention.

[0028] FIG5 is a structural diagram of a second arrangement of the crawler mechanism in the underwater walking device of the present invention.

[0029] FIG6 is a schematic diagram of the downward tilting posture of the crawler module in the underwater walking device of the present invention.

[0030] FIG7 is a schematic structural diagram of the soil-breaking device of the present invention.

[0031] FIG8 is a schematic diagram of the lowering posture of the soil-breaking device of the present invention.

[0032] FIG9 is a left side view of FIG8 of the present invention.

[0033] FIG10 is a schematic diagram of the present invention after the distance between the two spray arms in FIG8 is increased.

[0034] FIG11 is a schematic diagram of the recovery posture of the soil-breaking device of the present invention.

[0035] FIG12 is a schematic structural diagram of the front jet mechanism of the present invention.

[0036] FIG13 is a schematic diagram of the arrangement of two backfill modules with an increased distance between them according to the present invention.

[0037] FIG14 is a schematic diagram of the arrangement of two backfill modules when the distance between them is reduced.

[0038] FIG15 is a schematic diagram of the recovery of two backfill modules when they are separated from each other according to the present invention.

[0039] FIG16 is a schematic structural diagram of a single backfill module according to the present invention from a first perspective.

[0040] FIG17 is an AA cross-sectional view of FIG16 of the present invention.

[0041] FIG18 is a schematic structural diagram of a single backfill module according to the present invention from a second perspective.

[0042] FIG19 is a schematic diagram showing the working status of two backfill modules of the present invention.

[0043] In the figure: 1. Main body of the fuselage; 2. Underwater walking device; 21. Slide shoe; 22. Track mechanism; 221. Track module; 23. Drive module 1; 24. Connecting rod; 25. Vertical thruster; 26. Horizontal thruster; 27. Rotatable thruster; 271. Connecting rod; 272. Propeller body; 28. Drive module 2; 3. Spraying device; 31. Fixed pipeline; 32. Rotating pipeline; 321. Elbow; 322. Mounting rod; 33. Drive mechanism 1; 34. Spray arm; 341. Spray pipe; 3411. Front nozzle; 3412. Inner nozzle; 3413. Tail nozzle; 35. Guide piece; 351. Guide plug; 352. Connecting sleeve; 36. Driving mechanism 2; 37. Driving mechanism 3; 38. Water pump mechanism; 4. Backfill module; 41. Backfill pipeline 1; 42. Backfill pipeline 2; 43. Spray nozzle 1; 44. Spray nozzle 2; 45. Water inlet end; 46. Fixed bracket; 47. Laying mechanism 2; 471. Mounting frame; 472. Driving piece; 473. Connecting arm 1; 474. Connecting arm 2; 475. Connecting arm 3; 476. Guide column; 48. Adjusting mechanism 1; 5. Front spray mechanism; 51. Support pipe; 52. Front nozzle; 51. Front nozzle; 53. Driving mechanism 5; 100. Cable; 200. Seabed. DETAILED DESCRIPTION

[0044] As shown in Figures 1-19, the present invention provides a submarine trenching and cable burial active backfilling system, comprising a main body 1, an underwater traveling device 2, a trenching device, and a backfilling device 4. The underwater traveling device 2 is disposed at the lower end of the main body 1 and is used to drive the submarine trenching and cable burial active backfilling system on the seabed. The trenching device is disposed at the front end of the main body 1 and is used to open a trench of a corresponding depth and width on the seabed 200.

[0045] The backfill module 4 is arranged on the main body 1. The backfill device 4 includes a backfill module, which is provided with a jet nozzle 1 43 and a jet nozzle 2 44. The jet nozzle 1 43 is used to face the surface of the seabed 200 and is located on one side of the trench. The jet nozzle 2 44 is used to extend into the trench and face the inner wall of one side of the trench. The jet nozzle 1 43 is arranged downwardly and tilted toward the direction of the jet nozzle 2 44. During operation, the jet nozzle 1 43 sprays a jet obliquely downward toward the surface of the seabed 200. The jet nozzle 2 44 is arranged upwardly and tilted toward the direction of the jet nozzle 1 43. During operation, the jet nozzle 2 sprays a jet obliquely from bottom to top toward the inner wall of the trench. There is a gap between the jet nozzle 1 43 and the jet nozzle 2 44 to accommodate the area from the inner wall of the trench to the surface of the seabed 200. The jet directions of the two jet nozzles are arranged relative to each other to form counter-jet flows. There are two backfill modules, which are symmetrically arranged at the rear end of the fuselage body 1, corresponding to the backfilling of both sides of the trench respectively, and there is a gap between the two backfill modules for the cable 100 to pass through.

[0046] As shown in Figure 1, the submarine trenching and cable burial active backfilling system provided by the present invention operates by utilizing an underwater traveling device 2 to move the entire system along the length of the cable 100 on the seabed 200. The trenching device creates a trench of appropriate depth and width on the seabed 200 along the direction in which the cable 100 is to be laid. As the trench is created, the cable 100 gradually sinks into the trench. The second jet nozzles 44 in the two backfilling modules extend into the trench, correspondingly located on either side of the cable 100. The first jet nozzles 43 in the two backfilling modules are correspondingly located above the seabed 200 outside the trench. As shown in FIG19 , the two backfill modules' jet nozzles 44 are located at the bottom of the trench, respectively, toward the inner walls on either side of the trench and slantingly ejecting jets from bottom to top. The two backfill modules' jet nozzles 43 are located outside the trench on either side and slantingly ejecting jets downward toward the surface of the seabed 200. The jet nozzles 43 and 44 in a single backfill module jointly form counter-jet flows, which flush the soil between the inner wall of the trench and the surface of the seabed 200, causing the soil to loosen and collapse and backfill into the trench, burying the cable 100. This allows for rapid active backfilling, avoiding potential safety hazards caused by the prolonged exposure of the cable 100. For seabeds 200 with softer soil, the present invention can utilize counter-jet flows to accelerate the collapse of the soil on both sides of the trench after the cable 200 falls into the trench, enabling faster backfill and complete burial of the cable 100 in a shorter time, thereby improving operational efficiency and quality. Compared with the unilateral jet impact method, the present invention adopts counter-jet with corresponding oblique direction. Under the impact of jets on both sides, the soil between the inner wall of the trench and the surface of the seabed 200 can be effectively broken for the seabed 200 with high soil hardness and high viscosity, causing it to loosen and fall into the trench, ensuring the complete burial of the cable 100. Therefore, when the present invention is used for trenching and cable burying operations in different seabed environments, it can ensure that the cable 100 is quickly buried after effectively falling into the trench, depending on the different seabed soil properties, thereby improving the operation efficiency and operation quality, and having a wider range of applicable scenarios for seabed operations and higher flexibility of use. On the basis of ensuring that the soil is flushed away, the unilateral jet water pressure requirements of nozzle 1 3 and nozzle 2 4 can be reduced accordingly to appropriately reduce the pressure requirements for the pipeline.

[0047] 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, and the other on the other side. The walking mechanisms are connected to the main body 1. In one embodiment of the present invention, as shown in Figure 2, the walking mechanism is a sliding shoe 21, which is fixedly connected to the main body 1. 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.

[0048] In another embodiment of the present invention, as shown in Figures 4-8 , the traveling mechanism is a crawler mechanism 22, which is hingedly connected to the fuselage body 1. Both crawler mechanisms 22 have a travel range that allows them to tilt relative to the fuselage body 1, meaning that the postures of the two crawler mechanisms 22 on the fuselage body 1 are adjustable. Drive mechanisms are provided on both sides of the fuselage body 1, respectively, for driving the crawler mechanisms 22 on both sides of the fuselage body 1 to move, thereby adjusting the posture of the crawler mechanisms 22, thereby adjusting the inclination of the crawler mechanisms 22 relative to the fuselage body 1 and adjusting the angle between the bottoms of the two crawler mechanisms 22, i.e., the postures shown in Figures 6-8 .

[0049] In the underwater walking device provided by the present invention, in an embodiment based on the track mechanism 22, the inclination of the track mechanism 22 relative to the fuselage body 1 and the angle between the bottoms of the two track mechanisms 22 can be adjusted by adjusting the posture of the track mechanism 22, so that the bottom surfaces of the two track mechanisms 22 are on the same horizontal plane, which is suitable for walking on a flat seabed, or the bottom surfaces of the two track mechanisms 22 form an upward or downward angle, that is, as shown in Figures 7 and 8, it is suitable for a ridge-shaped raised seabed or a groove-shaped downwardly sunken seabed, thereby improving the gripping ability of the track mechanism 22 under such seabed terrain and improving the underwater walking performance. The posture of the device can be adjusted and auxiliary thrust can be provided for the device through the propulsion mechanism. Combined with the thrust of the track mechanism 22 itself when working, the thrust requirement for walking on a seabed with soft mud is met, slipping is avoided, and the underwater walking performance is further improved, the walking requirements and reliability of different underwater terrains are met, the flexibility of underwater operations is improved, and the range of operable scenarios is broadened.

[0050] In one configuration of the present invention, as shown in FIG4 , a single crawler mechanism 22 is a crawler walking mechanism, that is, only one crawler walking mechanism is provided on one side of the fuselage body 1. In a preferred configuration of the present invention, as shown in FIG5-6 , a single crawler mechanism 22 includes two crawler modules 221, both crawler modules 221 are hinged to the fuselage body 1, and both have a moving stroke inclined relative to the fuselage body 21, and a single crawler module 221 is a crawler walking mechanism, that is, two aforementioned crawler walking mechanisms are provided on one side of the fuselage body 21 of the present invention, wherein the specific structural principles of the crawler walking mechanism referred to above are the same as those in the prior art and will not be repeated here. A single driving mechanism includes two driving modules 1 23, and the two driving modules 1 23 are used to correspondingly drive the two crawler modules 221 to rotate around the hinge with the fuselage body 1. In this arrangement, four track modules 221 are provided on both sides of the fuselage body 1, and each track module 221 is driven and adjusted in posture by a corresponding drive module 23. Therefore, the four track modules 221 can have different inclination angles on the rugged seabed to improve the grip ability and facilitate walking on the seabed with large rock particles.

[0051] The track module 221 is connected to the fuselage main body 1 via a connecting rod 24, cooperating 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 Figures 6-8. 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 connecting a single track module 221 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 driving module 1 23 is a linear driving module, such as a cylinder or other driving module with linear output, the cylinder end of the cylinder is hinged to the fuselage body 21, and the piston end is hinged to one of the connecting rods 24.

[0052] 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 2, 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 and 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.

[0053] The propulsion mechanism also includes a rotatable propeller 27, which is arranged on the fuselage body 1 and has a movable stroke that is inclined relative to the fuselage 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 not enough to meet the walking action in the seabed with fine mud or complex terrain, it can generate additional horizontal or vertical thrust on the basis of the thrust of the original vertical propeller 25 or horizontal propeller 26 to increase the horizontal or vertical thrust, thereby realizing the walking action of the operating system. In this setting, since the thrust direction of the rotatable propeller 27 is adjustable, a single rotatable propeller 27 can be used to increase the vertical thrust of the operating system, and can also be used to increase the horizontal thrust of the device, and has high flexibility of use.

[0054] The present invention also includes a second drive module 28. The rotatable propeller 27 includes a connecting rod 271 and a propeller body 272 fixed to the connecting rod 271. The propeller body 272 moves and rotates with the connecting rod 271. The connecting rod 271 is hingedly mounted on the fuselage body 1 and has a rotational travel on the fuselage body 1. The second drive module 28 is used to drive the connecting rod 271 to rotate to adjust the inclination of the rotatable propeller 27 relative to the fuselage body 1, thereby adjusting the inclination of the rotatable propeller 28. Specifically, the second drive module 28 is a cylinder or other linear output drive module. The cylinder end of the cylinder is hinged to the fuselage body 21, and the piston end is hinged to the side of the connecting rod 271. When the piston end of the cylinder extends, it pushes the connecting rod 271 to rotate. Compared with the direct motor-driven rotation method, this configuration has better load-bearing performance.

[0055] The present invention is also provided with a cable-finding module, which is arranged on the main body 1 of the machine body and is located at the front end of the operating system. It 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 the detection of different geological conditions and 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 bury cables, reducing the operator's active intervention and making the trenching and cable burying process more intelligent.

[0056] In one embodiment of the invention, the trenching device is a mechanical cutting and breaking device, such as a wheel-type cutting and breaking device or a plow-type breaking device, which can be applied to seabeds with high soil hardness or seabeds with exposed rocks on cable burial routes.

[0057] In another embodiment of the present invention, the trenching device is a jetting soil-breaking device 3, which includes a deployment mechanism 1 and two jetting arms 34. The deployment mechanism 1 is arranged on the fuselage main body 1, and the two jetting arms 34 are arranged on the deployment mechanism 1 and located at the front end of the fuselage main body 1. The deployment mechanism 1 drives the two jetting arms 34 to rise and fall along the height direction of the fuselage main body 1. Both of the jetting arms 34 are provided with a front nozzle 3411, and a high-pressure jet is sprayed through the front nozzle 3411 to open a trench on the seabed. That is, this embodiment uses a high-pressure water jet to perform trenching operations on the seabed 200, and can be applied to different soil seabeds with less exposed rocks and thicker soil cover.

[0058] In other configurations, the deployment mechanism 1 can be a cylinder-connected connecting rod structure. In a preferred embodiment of the present invention, as shown in Figures 9-11, the deployment mechanism 1 includes a fixed pipeline 31, a rotating pipeline 32, a driving mechanism 1 33, and a spray driving mechanism 2 36. The fixed pipeline 31 is mounted on the fuselage body. The rotating pipeline 32 is rotatably mounted on the fixed pipeline 31 and is connected to the fixed pipeline 31. That is, the rotating pipeline 32 has a radial rotation stroke on the fixed pipeline 31, and after rotation, the rotating pipeline 32 remains connected to the fixed pipeline 31. The driving mechanism 1 33 is used to drive the rotating pipeline 32 to rotate around the fixed pipeline 31. The driving mechanism 1 33 is an oil cylinder. The piston end of the oil cylinder is hinged to the rotating pipeline 32, and the cylinder end is hinged to the fuselage body, forming a structure similar to a connecting rod. This allows the rotating pipeline 32 to rotate while having better load-bearing capacity. A guide member 35 is fixedly provided on the water inlet end of each of the two spray arms 34, and each spray arm 34 is connected to its corresponding guide member 35. The two guide members 35 are both rotatably mounted on the rotating pipe 32 and are connected to the rotating pipe 32. That is, the two guide members 35 have a radial rotation stroke on the rotating pipe 32. After rotation, the two guide members 35 remain connected to the rotating pipe 32, thereby maintaining the two spray arms 34 in communication with the rotating pipe 32. The second driving mechanism 36 is used to drive the two spray arms 34 and the two guide members 35 to rotate around the rotating pipe 32. The number of the second driving mechanisms 36 corresponds to the number of the guide members 35, that is, there are two. The second driving mechanism 36 is an oil cylinder, the piston end of the oil cylinder is hinged to the guide member 35, and the cylinder end is hinged to the main body of the machine body, forming a similar connecting rod structure, which enables the two guide members 35 and the two spray arms 34 to rotate while having better load-bearing capacity.

[0059] The spraying and earth-breaking device 3 provided by the present invention has a fixed pipeline 31 and a rotating pipeline 32 that serve as both the water supply pipelines for the two spraying arms 34 and the mounting and bearing structure for the two spraying arms 34. On the basis of achieving the installation of the two spraying arms 34, there is no need to arrange additional pipelines that meet the lowering depth to connect the two spraying arms 34 with the water pump mechanism. This ensures that the spraying arms 34 can be connected to the spraying arms 34 at different lowering depths, which helps to simplify the overall structure, reduce the overall volume, and reduce space occupancy. Compared to ordinary pipelines, since the fixed pipeline 31 and the rotating pipeline 32 serve as the mounting and bearing structure for the two spraying arms 34, they have greater strength and hardness. When used as water supply pipelines, they are less likely to leak due to impact with underwater organisms or rocks, and are more reliable. The two-stage drive structure is formed by driving mechanism 1 33 and driving mechanism 2 36, which can not only realize the lowering and recovery of the two spray arms 34, but also when driving mechanism 1 33 drives the rotating pipeline 32 to flip to realize the lowering of the two spray arms 34, driving mechanism 2 36 can synchronously drive the two spray arms 34 to rotate to adjust the posture. When the two spray arms 34 are lowered deeper or shallower, the angle of the front nozzle relative to the vertical can be maintained in the optimal spray angle range, ensuring that the injection angle of the water jet is the optimal angle for spraying and breaking the soil, so that the present invention can be applied to trenching operations at different depths, while ensuring the quality and efficiency of trenching, and has high flexibility in underwater operations.

[0060] As shown in Figure 8, the two spray arms 34 are fully lowered, i.e., at their lowest position, suitable for trenching in deeper trenches. When shallower trenches are to be opened, the two-stage drive structure formed by drive mechanism 1 33 and drive mechanism 2 36 can be used to adjust the lower height of the two spray arms 34.

[0061] In one embodiment of the present invention, the fixed conduit 31 and the rotating conduit 32 can be connected via a flexible conduit, ensuring connectivity while ensuring the rotational travel of the rotating conduit 32. The rotating conduit 32 is connected to the two flow guides 35 via a flexible conduit, ensuring connectivity while ensuring the movement travel of the two flow guides 35.

[0062] In a preferred embodiment of the present invention, a radial dynamic seal is provided at the rotational engagement between the rotating conduit 32 and the fixed conduit 31, enabling direct communication between the rotating conduit 32 and the fixed conduit 31 while ensuring the required rotational travel. The two flow guides 35 are also provided with radial dynamic seals at their rotational engagement with the rotating conduit 32, enabling direct communication between the two flow guides 35 and the rotating conduit 32 while ensuring the required rotational travel. This embodiment eliminates the need for additional flexible piping, reducing piping complexity and the risk of damage and leakage at the connection points.

[0063] Two sets of fixed pipelines 31 are provided, each connected to a water pump mechanism 38. In other words, the two sets of fixed pipelines 31 are supplied with water through their corresponding water pump mechanisms 38. The rotating pipeline 32 is U-shaped, as shown in Figure 7 . Each end of the rotating pipeline 32 is provided with an elbow 321. Both sets of fixed pipelines 31 are transversely bent. The elbows 321 at both ends of the rotating pipeline 32 are rotatably connected to the transverse portions of the two sets of fixed pipelines 31 and radially dynamically sealed to provide direct communication. While ensuring connectivity, the rotating pipeline 32 as a whole can rotate around the two sets of fixed pipelines 31 under the action of the first drive mechanism 33. Furthermore, the two sets of fixed pipelines 31 are connected via a branch pipe, and / or the ends of the rotating pipeline 32 are connected via a branch pipe. If one set of water pump mechanisms 38 malfunctions or fails, the remaining set of water pump mechanisms 38 can maintain water supply to the two spray arms 34, maintaining operation and avoiding interruption. Among them, a connecting sleeve 352 is fixedly provided on the upper end of the guide member 35. As shown in Figure 7, the connecting sleeves 352 of the two guide members 35 are both sleeved on the rotating pipeline 32, that is, the guide member 35 is connected to the rotating pipeline 32 through the connecting sleeve 352. In the embodiment where the guide member 35 and the rotating pipeline 32 are dynamically sealed, the guide member 35 is communicated with the guide sleeve 352. Specifically, the guide sleeve 352 and the rotating pipeline 32 are dynamically sealed on the guide member 35, and a water hole is provided on the side wall of the rotating pipeline 32 at the overlap with the connecting sleeve 352. The water flow in the rotating pipeline 32 enters the guide member 35 along the connecting sleeve 352 through the water hole, and flows from the guide member 35 along the water inlet end of the spray arm 34 into the spray arm 34.

[0064] There are several front nozzles 3411 on a single spray arm 34, and the several front nozzles 3411 are arranged along the height direction of the spray arm 34. Specifically, the single spray arm 34 includes an array of spray pipes 341, and the lengths of the arrays of spray pipes 341 are different. The arrays of spray pipes 341 are arranged in parallel in order of length, that is, they are arranged in parallel from short to long, and the arrays of spray pipes 341 are all connected to the guide member 35, and the arrays of spray pipes 341 are all provided with front nozzles 341. As shown in Figures 13 and 14, among the array of spray tubes 341, the front nozzle 341 of the shortest spray tube 341 is arranged on the side of the spray tube 341 away from the remaining spray tubes 341, and the front nozzles 3411 of the remaining spray tubes 341 are arranged in an area longer than the adjacent spray tubes 341, and the front nozzles 3411 on all the spray tubes 341 are arranged in the same direction. As shown in Figures 9 and 10, when the spray arm 34 is viewed from above, the front nozzles 341 on the array of spray tubes 341 are arranged along the height direction of the spray arm 34.

[0065] The flow guide 35 is provided with a flow guide plug 351, which is used to block or open some of the spray pipes 341 on the shorter side of the plurality of spray pipes 341. Since the plurality of spray pipes 341 are arranged in parallel in length, the shorter side is specifically the side where the shortest spray pipe 341 in the spray arm 34 is located. The number of spray pipes 341 in a single spray arm 34 that can be blocked or opened by the flow guide plug 351 is less than the total number of spray pipes 341 in the spray arm 34. When there are at least two groups of spray pipes 341 that can be blocked or opened by the flow guide plug 351, the at least two groups are counted sequentially along the length direction starting from the shortest spray pipe 341. When the trench to be opened is deep, the depth of the jet arm 34 submerged in the seabed is deep. As shown in Figure 1, all jet pipes 341 are submerged in the seabed, and all front nozzles 3411 are basically not higher than the seabed, that is, all front nozzles 3411 participate in the seabed groundbreaking and trenching operation. When the trench to be opened is shallow, the depth of the jet arm 34 submerged in the seabed becomes shallower accordingly. At this time, some front nozzles 3411 will be significantly higher than the seabed and will not participate in the seabed groundbreaking and trenching operation. The jet pipe 341 where the front nozzle 341 is located is blocked by the diversion plug 351, so that the jet pipe 341 above the seabed is not sprayed by water jets, and all water flow is directed to the jet pipe 341 located inside the seabed, thereby improving the efficiency of water jet utilization and trenching efficiency. Among them, the position of the guide plug 351 on the guide member 35 is above the spray pipe 341. The guide plug 351 specifically includes a driving mechanism four and a plug body. The driving mechanism four is preferably an oil cylinder, the cylinder end of which is fixedly set on the guide member 35, and the plug body is set on the piston end of the oil cylinder. The plug body is passed through the inside of the guide member 35 and is dynamically sealed with the guide member 35. The plug body is driven by the oil cylinder to move toward the spray pipe 341 and inserted into the spray pipe 341 to achieve sealing, and the plug body is driven by the oil cylinder to move away from the spray pipe 341 to achieve opening.

[0066] The present invention also includes a third drive mechanism 37, which can drive the guide member 35 to move axially along the rotating pipeline 32, thereby driving the two spray arms 34 to move on the first deployment mechanism, so as to adjust the spacing between the two spray arms 34 to accommodate trenches of varying widths. The axial movement of the guide member 35 in the rotating pipeline 32 corresponds to the axial movement of the connecting sleeve 352 in the rotating pipeline 32. In the embodiment of the present invention based on a dynamic seal, the dynamic seal between the connecting sleeve 352 and the rotating pipeline 32 on the guide member 35 also includes an axial dynamic seal, i.e., the guide member 35 also has an axial movement stroke in the rotating pipeline 32. When the connecting sleeve 352 moves axially in the rotating pipeline 32, the water passage hole is always located within the overlap range between the connecting sleeve 352 and the rotating pipeline 32. In the embodiment of the present invention based on a flexible pipe connection, the length of the flexible pipe can meet the movement stroke of the guide member 35. After the spacing between the two spray arms 34 is adjusted, the two spray arms 34 maintain communication with the rotating pipeline 32 via the flow guide 35. Driving mechanism three 37 is a hydraulic cylinder connected between the two flow guides 35 to drive their synchronous movement. Alternatively, two hydraulic cylinders may be provided. A mounting rod 322 is fixedly mounted on the rotating pipeline 32. The cylinder ends of the two hydraulic cylinders are fixed to the mounting rod 322, while the piston ends are connected to the two flow guides 35, respectively.

[0067] Each of the spray pipes 341 in the array of two spray arms 34 is provided with an inner nozzle 3412. The inner nozzle 3412 of the shortest spray pipe 341 in the array is located on the inner side of the spray pipe 341, while the front nozzles 3411 on the remaining spray pipes 341 are located on the inner side of an area longer than the adjacent spray pipe 341. Furthermore, the inner nozzles 3412 in the two spray arms 34 are arranged opposite each other. When the required trench width is wide, the spacing between the two spray arms 34 is large, and the soil in the middle of the trench may not be liquefied. The inner nozzles 3412 can form opposing water jets within the trench along the trench width, liquefying the soil between the two spray arms 34. This facilitates the creation of a wide trench according to the large diameter of the cable 100 and ensures the trench shape of the wide trench, further improving the flexibility of use.

[0068] The bottom of each spray arm 34 is provided with a tail nozzle 3413. The tail nozzle 3413 is arranged to spray in a direction opposite to the spray direction of the front nozzle 3411. That is, the water jet from the tail nozzle 3413 is directed in a direction opposite to the water jet from the front nozzle 3411, and the water jet from the tail nozzle 3413 is parallel to the bottom of the trench. For the soft seabed 200, the soil on both sides of the trench can easily collapse in a short period of time. This is especially true for cables 100 with a large bending radius. The range of their operation is limited, and they generally rely on natural settlement, which is relatively slow. The arrangement of the tail nozzle 3413 can, after the front nozzle 3411 opens the trench, use the high-pressure water flow in the spray arm 34 to generate a horizontal jet in the trench in the opposite direction of the front nozzle 3411, and continuously liquefy the soil in the rear trench. This arrangement can avoid the backfilling of part of the soil before the cable 100 is completely sunk to the bottom of the trench, maintain the trench shape and depth, and even for the naturally sinking cable 100, ensure that the cable 100 can be completely sunk to the bottom of the trench that meets the requirements, ensure that the cable burial depth meets the operational requirements, and after the cable 100 has completed sinking to the bottom of the trench, it is quickly and actively backfilled by the backfill device 4 to ensure that the cable 100 is completely buried. Preferably, the tail nozzle 3413 is arranged at the bottom of the spray pipe 341, which is the longest in the spray arm 34, so that the tail nozzle 3413 can be kept at the bottom of the trench when the depth of the opened trench is different.

[0069] The present invention also includes a pre-spray mechanism 5, which is disposed on the main body 1 and located between the two spray arms 4. The pre-spray mechanism 5 can serve as a pre-spray before the spray arms 34 spray and break the soil. On the one hand, it can be used to clear silt, gravel, and seabed organisms attached to the seabed surface and cables. On the other hand, it can create a shallow trench on the seabed surface before the spray arms 34, forming a pre-ditch. This can reduce the difficulty of the spray arms 34 breaking the soil and trenching when turning, facilitating the trenching and cable burial operation. The pre-spray mechanism 5 includes a support tube 51, a pre-spray pipe 52, and a drive mechanism 53. The support tube 51 is connected to an external water supply unit. The pre-spray pipe 52 is rotatably disposed at the lower end of the support tube 51 and is dynamically sealed. The lower end of the pre-spray nozzle 52 is provided with a pre-spray nozzle 521 for spraying a water jet. The drive mechanism 53 is specifically a cylinder, which is hingedly disposed between the support tube 51 and the pre-spray pipe 52. Specifically, as shown in Figure 12, two front nozzles 52 are provided. Both front nozzles 52 are bent and one end facing away from the front nozzle 521 is rotatably connected to the lower end of the support tube 51 and dynamically sealed. The two front nozzles 52 together form a U-shaped nozzle structure, and the two front nozzles 52 are fixedly connected by a rod body. The oil cylinder is specifically hinged between the support tube 51 and the rod body.

[0070] In the present invention, the backfill module can be a mounting base for installing nozzle 1 43 and nozzle 2 44, and nozzle 1 43 and nozzle 2 44 are connected to the water supply pipe to provide jets. As shown in Figures 12 to 19, preferably, both backfill modules are backfill pipes. Specifically, a single backfill module includes backfill pipe 1 41 and backfill pipe 1 42. Backfill pipe 2 42 is connected and conducted to backfill pipe 1 41. Backfill pipe 2 42 is arranged longitudinally downward to form an end for extending into the interior of the trench. The nozzle 2 44 is arranged at the bottom of the lower end of backfill pipe 2 42. The backfill pipe 1 41 is arranged horizontally relative to the backfill pipe 2 42. , and extends away from the other backfill module, forming one end for placement above the seabed 200. The first spray nozzle 43 is disposed at the end of the first backfill pipe 41 facing away from the second backfill pipe 42. The first backfill pipe 41 and / or the second backfill pipe 42 are provided with a water inlet 45. The water inlet 45 is used to connect to an external water supply unit, such as a high-pressure water pump, to supply water to the first backfill pipe 41 and the second backfill pipe 42 through the same water inlet 45. In this arrangement, the first backfill pipe 41 and the second backfill pipe 42 serve as both the support structure for the first spray nozzle 43 and the second spray nozzle 44, and also as the water supply pipeline for the first spray nozzle 43 and the second spray nozzle 44.

[0071] In the present invention, the inclination angle of the spray nozzle 2 44 relative to the lower end of the backfill pipeline 2 42 is less than 45°, so that the angle between the jet ejected by the spray nozzle 2 44 during operation and the plumb bob direction is less than 45°. Since the spraying directions of the spray nozzle 1 43 and the spray nozzle 2 44 are arranged relative to each other, the angle between the jet ejected by the spray nozzle 1 43 during operation and the horizontal direction is greater than 45°. This arrangement can make the jet ejected from the spray nozzle 2 44 from bottom to top act on the middle and upper parts of the inner arm of the trench, and make the distance between the action position of the jet ejected from the spray nozzle 1 43 downwardly inclined on the surface of the seabed 200 and the trench close, thereby shortening the distance between the action positions of the two opposing jets, reducing the difficulty of breaking the ground and improving the efficiency of breaking the ground while meeting the requirements of breaking the ground and backfilling the buried cable 100.

[0072] The present invention also includes two deployment mechanisms 2 47 and two fixed brackets 46 connected to the fuselage body 1. The two fixed brackets 46 are both provided with support holes. The two backfill pipes 1 41 are passed through the corresponding support holes. The support holes are used to support the backfill pipes 1 41, and the backfill pipes 1 41 can rotate in the corresponding support holes. The two deployment mechanisms 2 47 are used to drive the two backfill modules to rotate for deployment and recovery. As shown in Figures 13 and 14, they are schematic diagrams of the state after the two backfill modules are deployed. As shown in Figure 15, it is a schematic diagram of the state after the two backfill modules are recovered. Among them, the deployment described in this article refers to lowering the target mechanism to a working posture.

[0073] Specifically, the laying mechanism 2 47 includes a mounting bracket 471, a driving member 472 and a connecting arm structure. A positioning hole is also provided on the fixed bracket 46. The backfill pipeline 1 41 is passed through the mounting bracket 471, that is, the backfill pipeline 1 41 is passed through the fixed bracket 46 and the mounting bracket 471 at the same time, and is supported by the fixed bracket 46 and the mounting bracket 471 to improve the reliability of the support. The connecting arm structure includes connecting arm 1 473, connecting arm 2 474, and connecting arm 3 475. The driving member 472 is specifically a cylinder, the cylinder end of which is hinged to the mounting frame. One end of connecting arm 1 473 is fixed to backfill pipeline 1 41, and the other end is hinged to one end of connecting arm 2 474. The other end of connecting arm 2 474 is hinged to one end of connecting arm 3 475 and the piston end of the driving member 472. Connecting arm 3 475 is bent and its other end is hinged to the mounting frame 475, forming a connecting structure as shown in Figure 17. When the piston end of the driving member 472 is extended or retracted, the connecting arm structure drives the backfill pipeline 1 41 to rotate, thereby driving the backfill module to flip as a whole, achieving deployment and recovery. Compared with the linear lifting structure, the flip deployment and recovery method requires a smaller stroke of the driving member 472, and the volume of the driving member 472 can be smaller. At the same time, compared with the motor drive method, the oil cylinder combined with the connecting arm structure has better stability and stronger load-bearing capacity.

[0074] Backfill pipe 1 41 can both rotate within the support hole and move axially within the support hole. Each backfill module is provided with an adjustment mechanism 1 48 on its corresponding fixed bracket 46, which is used to drive backfill pipe 1 41 in the backfill module to move axially along the support hole, thereby adjusting the distance between backfill pipes 2 42 in the two backfill modules to accommodate trenches of different widths. In the aforementioned deployment mechanism 2 47, due to the connection between the drive member 472 and the connecting arm structure, backfill pipe 1 41 can rotate around the mounting bracket 471 but cannot move axially. That is, backfill pipe 1 41 and mounting bracket 471 move synchronously in the axial direction. A guide column 476 is provided on the mounting frame 471, and the guide column 476 is horizontally inserted into the positioning hole. The mounting frame 471 is supported by the cooperation between the positioning hole and the guide column 476. The adjusting mechanism 48 is specifically an oil cylinder. One end of the cylinder end and the piston end of the oil cylinder is connected to the fixed bracket 46, and the other end is connected to the mounting frame 471. The mounting frame 471 is driven by the adjusting mechanism 48 and the backfill pipeline 41 is driven to move axially along the fixed bracket 46, thereby adjusting the distance between the two backfill pipelines 42, as shown in Figures 13 and 14, to adapt to trenches of different widths.

[0075] In one embodiment of the present invention, backfill pipe 2 42 is detachably connected to backfill pipe 1 41, for example, via a flange connection. In this embodiment, backfill pipe 2 42 of varying lengths can be pre-installed on the ship's deck, depending on the trenching depth required for laying the cable 100, to accommodate trenching and backfilling at corresponding depths.

[0076] In another embodiment of the present invention, the backfill pipeline 1 41 and / or the backfill pipeline 2 42 are retractable pipelines, and a corresponding adjustment mechanism 2 is provided for driving the backfill pipeline 1 41 to retract to adjust the distance between the spray nozzle 1 43 and the backfill pipeline 2 42 and / or driving the backfill pipeline 2 42 to retract to adjust the distance between the spray nozzle 2 44 and the backfill pipeline 1 41. Among them, in this embodiment, backfill pipeline 1 41 and backfill pipeline 2 42 can both be telescopic pipelines, and both are provided with adjustment mechanism 2; or one of backfill pipeline 1 41 and backfill pipeline 2 42 is a telescopic pipeline, and the telescopic pipeline is provided with adjustment mechanism 2. When only one of them is a telescopic pipeline, it is preferred that backfill pipeline 1 41 is a telescopic pipeline, and backfill pipeline 2 42 is detachably connected to backfill pipeline 1 41 to facilitate replacement of backfill pipelines 42 of different lengths, adapt to the backfill pipeline 1 41 after extension, and ensure that nozzle 1 43 and nozzle 2 44 are in a state where the spraying directions are relative to each other.

[0077] The retractable pipeline includes two pipelines connected by a dynamic seal. The second adjustment mechanism is specifically a cylinder that drives one of the pipelines to move axially along the other pipeline to achieve retraction and expansion. In this embodiment, the backfill pipeline 1 41 can only rotate within the support hole but cannot move axially within the support hole. Specifically, one of the pipelines in the backfill pipeline 1 41 is rotatably set within the support hole and axially limited. The other pipeline in the backfill pipeline 1 41 is passed through the mounting bracket 471. One end of the connecting arm 1 473 is specifically fixed to the pipeline passed through the mounting bracket 471. The cylinder end of the second adjustment mechanism is connected to the fixed bracket 46 or one of the pipelines, and the piston end is connected to the mounting bracket 471 or the other pipeline, thereby achieving retraction and expansion of the backfill pipeline 1 41. This arrangement can adjust the distance between the two backfill modules while maintaining the position of the water inlet end 45 unchanged, adapting to trenches of different sizes, broadening the scope of application and improving the flexibility of use, and reducing the connection requirements for the water inlet end 45. When the second backfill pipeline 42 is also a telescopic pipeline, the cylinder end of the second regulating mechanism is arranged on one of the pipelines of the second backfill pipeline 42 , and the piston end is arranged on the other pipeline of the second backfill pipeline 42 .

[0078] When the present invention is applied to the laying of cables 100 with a large bending radius, due to the limited bending range of cables 100 with large bending radius, the fuselage body 1 does not include a cable compression structure. Instead, the cables 100 naturally settle into the trench and are quickly and reliably buried using the backfill device 4. If the soil of the seabed 200 is relatively soft, the tail nozzle 3413 is used to maintain the trench's shape before the cables 100 are dropped into the trench.

[0079] When the present invention is applied to the laying of cables 100 with a small bending radius, since such cables 100 have a large bend range and good flexibility, the present invention also provides a cable press. The cable press is specifically arranged on the main body 1 and located between the trenching device and the backfilling device 4. The cable press is used to press the cable 100 into the bottom of the trench after the trenching device creates a trench, thereby accelerating the laying of the cable. The backfilling device 4 is then used to quickly backfill the trench and bury the cable 100. Since the speed of the cable 100 sinking is increased, the backfilling device 4 can be installed closer to the trenching device on the main body 1, thereby reducing the overall size of the operating system in its own travel direction and facilitating the improvement of the operating system's flexibility in turning and confined spaces.

[0080] The present invention also provides a method for active backfilling of submarine trenching and cable burial, which uses the above-mentioned active backfilling system for submarine trenching and cable burial, and includes the following steps:

[0081] S1. The submarine trenching and cable burying active backfilling operation system is lowered to the seabed 200 where the trenching and cable burying are to be carried out. The operation system is driven to move on the seabed 200 by the underwater walking device, and a trench is opened on the seabed 200 by the trenching device. The cable 100 is lowered into the trench by natural settlement or by the action of a cable press. The trenching device is selectively equipped with a mechanical cutting and breaking device or a jet breaking device 3 according to the topography of the seabed 200.

[0082] S2. Position the first jet nozzles 43 in the two backfill modules outside the trench on both sides, and tilt the first jet nozzles 43 in the two backfill modules downward in the direction of the trench toward the surface of the seabed 200. Extend the second jet nozzles 44 in the two backfill modules into the trench, correspondingly positioned on both sides of the cable 100. Position the second jet nozzles 44 in the two backfill modules upward at the bottom of the trench, correspondingly toward the inner walls on both sides of the trench.

[0083] S3. In a single backfill module, the jet obliquely ejected from nozzle 1 43 from top to bottom and the jet obliquely ejected from nozzle 2 44 from bottom to top form a counter jet, which breaks the soil between the inner wall of one side of the trench where the backfill module is located and the surface of the seabed 200, making the soil loose and collapsing into the trench for backfilling, burying the cable 100.

[0084] The present invention is targeted at seabeds 200 with relatively soft soil. After the cable 200 falls into the trench, it can use counter-jet flow to accelerate the collapse of the soil on both sides of the trench, allowing it to backfill more quickly and completely bury the cable 100 in a shorter time, thereby improving work efficiency and quality. Compared to the unilateral jet impact method, the present invention uses counter-jet flow in corresponding oblique directions. Under the impact of the jets on both sides, it can also effectively break the soil between the inner wall of the trench and the surface of the seabed 200, targeting seabeds 200 with high soil hardness and high viscosity, causing it to loosen and collapse into the trench, ensuring the burial of the cable 100. Therefore, when the present invention is applied to cable burial operations in different seabed environments, it can ensure that the cable 100 is completely buried according to the different seabed soil types. It has a wider range of applicability on the seabed and higher flexibility of use. On the basis of ensuring that the soil is flushed away, the water pressure requirements of the unilateral jets of nozzle 1 3 and nozzle 2 4 can be reduced accordingly, thereby appropriately reducing the pressure requirements on the pipeline.

[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 submarine trenching and cable burying active backfilling operation 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 at the lower end of the fuselage body (1); a trenching device, the trenching device being arranged at the front end of the fuselage body (1) and being used for opening a trench on the seabed (200); A backfilling device (4), wherein the backfilling module (4) is arranged on the fuselage body (1), the backfilling device (4) comprises a backfilling module, the backfilling module is provided with a first spray nozzle (43) and a second spray nozzle (44), the first spray nozzle (43) is used to face the surface of the seabed (200) and is located on one side of the trench, the second spray nozzle (44) is used to extend into the interior of the trench and face the inner wall of one side of the trench, and the first spray nozzle (43) is arranged to be inclined downward in the direction where the second spray nozzle (44) is located, and the second spray nozzle (44) is arranged to be inclined upward in the direction where the first spray nozzle (43) is located, and there is a gap between the first spray nozzle (43) and the second spray nozzle (44), and the spraying directions of the two are arranged oppositely; two backfilling modules are provided, and the two backfilling modules are symmetrically arranged at the rear end of the fuselage body (1), respectively corresponding to the two sides of the trench, and there is a gap between the two backfilling modules for the cable (100) to pass through.

2. The active backfilling system for submarine trenching and cable burying as claimed in claim 1 is characterized in that: The trenching device is a mechanical cutting and breaking device.

3. The active backfilling system for submarine trenching and cable burying as claimed in claim 1 is characterized in that: The trenching device is a spraying and earth-breaking device (3), which comprises a deployment mechanism 1 and two spraying arms (34), wherein the deployment mechanism 1 is arranged on the fuselage body (1), and the two spraying arms (34) are arranged on the deployment mechanism 1 and located at the front end of the fuselage body (1), and the two spraying arms (34) are both provided with a front nozzle (3411) for spraying a jet to open a trench on the seabed (200), and a gap is provided between the two spraying arms (34) for the cable (100) to pass through.

4. The active backfilling system for submarine trenching and cable burying as claimed in claim 3 is characterized by: The distance between the two spray arms (34) is adjustable to open trenches of different widths, and the distance between the two backfill modules is adjustable to correspond to the two sides of trenches of different widths.

5. The active backfilling system for submarine trenching and cable burying as claimed in claim 4 is characterized in that: The two spray arms (34) are movably arranged on the deployment mechanism one, and the spray earth-breaking device (3) further comprises a driving mechanism three (37), which is arranged on the deployment mechanism one or between the two spray arms (34). The driving mechanism three (37) drives the two spray arms (34) to move along the deployment mechanism one to adjust the distance between the two spray arms (34).

6. The active backfilling system for submarine trenching and cable burying according to claim 3 or 4, characterized in that: The backfilling device (4) also includes a power mechanism, which drives the two backfilling modules to move so as to adjust the distance between the two backfilling modules.

7. The active backfilling system for submarine trenching and cable burying according to claim 3 or 4, characterized in that: The two backfill modules are backfill pipes, and a water inlet end is provided on the backfill pipe. The backfill pipe is bent, one end is used to be arranged above one side of the seabed (200), and the other end is used to extend into the trench. The first spray nozzle (43) is located at the end of the backfill pipe arranged above the seabed (200), and the second spray nozzle (44) is located at the end of the backfill pipe extending into the trench. In the backfill pipe, the end arranged above one side of the seabed (200) is a retractable structure, and / or the end arranged above one side of the seabed (200) and the end arranged to extend into the trench are detachably connected.

8. The active backfilling system for submarine trenching and cable burying as claimed in claim 7 is characterized by: The deployment mechanism 1 drives the two spray arms (34) to move along the height direction of the fuselage body (1) to adjust the deployment height of the two spray arms (34). A single spray arm (34) comprises a plurality of spray pipes (341). The plurality of spray pipes (341) have different lengths. The plurality of spray pipes (341) are arranged in parallel in length order. The plurality of spray pipes (341) are all provided with front nozzles (3411). Among the plurality of spray pipes (341), the spray pipe (341) with the shortest length has its front nozzle The spray pipe (3411) is arranged on a side of the spray pipe (341) away from the other spray pipes (341), the front nozzles (3411) of the other spray pipes (341) are arranged in a region longer than the adjacent spray pipes (341), and the front nozzles (3411) on all the spray pipes (341) are arranged in the same direction, and a guide plug (351) is arranged on the water inlet end (45) of the spray arm (34) for blocking or opening part of the spray pipes (341) on the shorter side of the array of spray pipes (341).

9. The active backfilling operation system for submarine trenching and cable burying according to any one of claims 1 to 5, characterized in that: It also comprises a cable press, which is arranged on the fuselage body (1) and located between the trenching device and the backfilling device (4), and is used to press the cable (100) into the bottom of the trench after the trenching device opens the trench and before the backfilling device (4) breaks the soil to backfill the trench.

10. A method for active backfilling of submarine trenching and cable burial, characterized in that: The submarine trenching and cable burying active backfilling operation system according to any one of claims 1 to 9 is used, and the operation method comprises the following steps: S1, dropping the submarine trenching and cable burying active backfilling operation system onto the seabed (200) where trenching and cable burying are to be carried out, driving the operation system as a whole to move on the seabed (200) by an underwater walking device, and using a trenching device to open a trench on the seabed (200), and sinking the cable (100) into the trench; S2, the first spray nozzle (43) in the two backfill modules is located outside the two sides of the trench, and the first spray nozzle (43) in the two backfill modules is tilted downward in the direction of the trench toward the surface of the seabed (200), and the second spray nozzle (44) in the two backfill modules is extended into the trench, and is located on both sides of the cable (100), and the second spray nozzle (44) in the two backfill modules is tilted upward at the bottom of the trench and is correspondingly arranged toward the inner walls of both sides of the trench; S3. In a single backfill module, the jet ejected from the first jet nozzle (43) and the jet ejected from the second jet nozzle (44) form a counter jet, which breaks the soil between the inner wall of one side of the trench where the backfill module is located and the surface of the seabed (200), causing the soil to loosen and collapse into the trench for backfilling, thereby burying the cable (100).

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