CN111576526A - Rock-based seabed cable laying device and laying method thereof - Google Patents
Rock-based seabed cable laying device and laying method thereof Download PDFInfo
- Publication number
- CN111576526A CN111576526A CN202010503498.9A CN202010503498A CN111576526A CN 111576526 A CN111576526 A CN 111576526A CN 202010503498 A CN202010503498 A CN 202010503498A CN 111576526 A CN111576526 A CN 111576526A
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- control system
- machine body
- seabed
- soil drilling
- signal
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F5/00—Dredgers or soil-shifting machines for special purposes
- E02F5/02—Dredgers or soil-shifting machines for special purposes for digging trenches or ditches
- E02F5/10—Dredgers or soil-shifting machines for special purposes for digging trenches or ditches with arrangements for reinforcing trenches or ditches; with arrangements for making or assembling conduits or for laying conduits or cables
- E02F5/104—Dredgers or soil-shifting machines for special purposes for digging trenches or ditches with arrangements for reinforcing trenches or ditches; with arrangements for making or assembling conduits or for laying conduits or cables for burying conduits or cables in trenches under water
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F5/00—Dredgers or soil-shifting machines for special purposes
- E02F5/02—Dredgers or soil-shifting machines for special purposes for digging trenches or ditches
- E02F5/10—Dredgers or soil-shifting machines for special purposes for digging trenches or ditches with arrangements for reinforcing trenches or ditches; with arrangements for making or assembling conduits or for laying conduits or cables
- E02F5/104—Dredgers or soil-shifting machines for special purposes for digging trenches or ditches with arrangements for reinforcing trenches or ditches; with arrangements for making or assembling conduits or for laying conduits or cables for burying conduits or cables in trenches under water
- E02F5/105—Dredgers or soil-shifting machines for special purposes for digging trenches or ditches with arrangements for reinforcing trenches or ditches; with arrangements for making or assembling conduits or for laying conduits or cables for burying conduits or cables in trenches under water self-propulsed units moving on the underwater bottom
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/06—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for laying cables, e.g. laying apparatus on vehicle
- H02G1/10—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for laying cables, e.g. laying apparatus on vehicle in or under water
Abstract
The invention discloses a rock-based seabed cable laying device which comprises a machine body, at least one propeller thruster, a cable guide pipeline, a soil drilling mechanism, a traveling mechanism and a control system, wherein the propeller thrusters are respectively installed on two opposite sides in the length direction of the machine body, the cable guide pipeline is obliquely and downwards arranged in the machine body from the top to the bottom along the length direction of the machine body, the soil drilling mechanism is arranged at the front part of the machine body in a penetrating way, the traveling mechanism is installed at the bottom of the machine body, the control system is installed on the machine body, and the propeller thruster, the soil drilling mechanism and the traveling mechanism are respectively in signal connection with the control system. And its laying method is also disclosed. The invention has the advantages that: through the combination of the soil drilling mechanism and other components, the device realizes slotting operation for the rock foundation seabed, can synchronously realize laying operation of the submarine cable, can meet the requirement of laying the submarine cable, can safely and effectively protect the submarine cable, prevents the submarine cable from being damaged, and has the advantages of reasonable structure, easy production and manufacture and high operation efficiency.
Description
Technical Field
The invention relates to submarine cable laying operation, in particular to a rock-based seabed cable laying device and a laying method thereof.
Background
Submarine cables are cables wrapped with insulating materials and laid on the seabed for transmitting telephone and internet signals. Submarine cable laying projects, one of the most complex and difficult large projects recognized by countries around the world, employ extremely complex techniques from environmental exploration, marine physics surveys, and cable design, manufacture, and installation. The submarine cable laying method mainly comprises 2 methods: burying and laying.
The hydraulic jetting type embedding is one of the most common methods for laying submarine cables at present, the bottom of the embedding equipment is provided with a plurality of rows of water spraying holes which are distributed on two sides in parallel, and during operation, each hole simultaneously jets out a high-pressure water column to the seabed to flush out sediment on the seabed so as to form a submarine cable trench; the upper part of the device is provided with a cable guide hole for guiding the cable to the bottom of the submarine cable ditch, the submarine cable ditch is automatically filled by ocean current, the burying device is dragged by a construction ship to advance, and various commands are sent out through the working cable. The laying method generally has no underwater working equipment, and the submarine cables are laid on the surface of the sea floor by self-weight.
Under the influence of factors such as special topography and geology of Taiwan straits, the characteristics that the geological conditions of the same region are greatly different and submerged reefs and beaches locally exist in offshore sea areas of Fujian are called as a rock-based seabed, and the rock-based seabed has the complex geological characteristics that the thickness and composition of a covering layer are greatly changed, and the buried depth and weathering degree of bedrocks are greatly changed. The hydraulic jet type burying method is only suitable for soft seabed soil beds, and for the foundation seabed with complex geological characteristics, the submarine cable cannot be effectively paved on the foundation seabed only by means of hydraulic jet type burying. The submarine cable is laid on the seabed simply, and the repeated scouring of the ocean current can cause abrasion, deformation and vibration of a submarine cable protective layer and even cause serious faults such as submarine cable insulation breakdown and the like.
Disclosure of Invention
The purpose of the invention is as follows: aiming at the problems, the invention aims to provide a rock-based seabed cable laying device, which solves the problem of damage of a submarine cable caused by the fact that the submarine cable is not laid in place in the prior art, is suitable for laying the cable of the rock-based seabed, meets the requirements, and provides a laying method of the device.
The technical scheme is as follows: the utility model provides a rock-based seabed cable laying device, includes organism, screw propeller, cable guide pipeline, bores native mechanism, running gear, control system, the screw propeller is in the relative both sides of organism length direction install one respectively at least, the cable guide pipeline is followed organism length direction from top to bottom slant wear to locate down in the organism, bore native mechanism wear to establish install in the front portion of organism, running gear install in the bottom of organism, control system install in on the organism, the screw propeller bore native mechanism walk the mechanism respectively with control system signal connection.
Furthermore, the soil drilling mechanism comprises a hydraulic cylinder, a motor, a flange plate and a drill bit, wherein the hydraulic cylinder vertically penetrates through the machine body from top to bottom and is fixed with the machine body, a piston rod of the hydraulic cylinder faces downwards, the motor is connected with the piston rod through the flange plate, a motor shaft of the motor faces downwards, the drill bit faces downwards and is connected with the motor shaft, and the hydraulic cylinder and the motor are respectively in signal connection with the control system.
Most preferably, the drill bit is a PDC bit.
Furthermore, the flange plate comprises a cylinder body and a disc body, the cylinder body is vertically placed in the middle of one side face of the disc body and is integrally connected with the cylinder body, the piston rod is inserted into the cylinder body and is fixed with the inner circumferential face of the cylinder body through a plurality of bolts, and the machine body of the motor is fixed with the other side face of the disc body through a plurality of bolts.
Furthermore, the control system comprises a front filter, a digital signal processor, an output filter, a first pressure sensor, a second pressure sensor and a depth sensor, wherein the front filter, the digital signal processor and the output filter are integrally installed on the upper portion of the machine body, the front filter and the output filter are respectively in signal connection with the digital signal processor, the propeller, the soil drilling mechanism and the traveling mechanism are respectively in signal connection with the output filter, the first pressure sensor and the depth sensor are respectively installed on the soil drilling mechanism and are in signal connection with the front filter, and the second pressure sensor is installed on the traveling mechanism and is in signal connection with the front filter.
Furthermore, running gear includes athey wheel, connecting bridge, power supply, athey wheel relative parallel interval is equipped with two and passes through connecting bridge connects, the power supply install in on the connecting bridge, two athey wheel respectively with the power supply is connected, the upper portion of connecting bridge is equipped with circular lug, the bottom of organism corresponds is equipped with the circular port, the lug insert in the circular port and with the bottom of organism is fixed, make two athey wheel is in the bottom of the organism is located its length direction both sides relatively, the power supply with control system signal connection.
Preferably, the machine body is of a cuboid structure, and the end face of the head of the machine body is an outward-convex arc-shaped face.
Preferably, the body is of a solid or hollow structure.
A laying method of the rock-based seabed cable laying device comprises the following steps:
the method comprises the following steps: the starting end of the submarine cable is placed in a cable guide pipeline, and the device is slowly placed into seawater by a crane and synchronously lowered;
step two: the shipborne main control system sends an instruction signal to the control system, the control system receives the signal and sends an instruction to the propeller thruster, and the propeller thruster is triggered to rotate reversely to submerge the device;
step three: after the travelling mechanism contacts the seabed, a signal is sent to a control system, and the control system receives the signal and sends an instruction to the propeller thruster to stop the propeller thruster from rotating;
step four: the control system sends a signal to the soil drilling mechanism to enable the soil drilling mechanism to move downwards, when the soil drilling mechanism touches the seabed, the signal is sent back to the control system, and the control system sends a signal to enable the soil drilling mechanism to start rotating to drill soil;
step five: when the soil drilling depth reaches a set requirement, a signal is sent back to the control system, the control system sends a signal to stop the soil drilling mechanism from moving downwards and sends a command to start the travelling mechanism, so that the travelling mechanism drives the whole device to move forwards, and the soil drilling mechanism performs groove drilling operation;
step six: after the soil drilling mechanism drills a groove on the seabed according to the setting, workers on the ship synchronously put down the submarine cable, the submarine cable directly falls into the groove through a cable guide pipeline, and the drilling of the groove and the lower part of the submarine cable are synchronously carried out;
step seven: after the submarine cable is laid, the shipborne main control system sends an instruction to the control system, the control system sends a signal again, firstly controls the traveling mechanism to stop advancing, then controls the soil drilling mechanism to stop rotating soil drilling operation, then the soil drilling mechanism moves upwards to be separated from the seabed, and finally controls the propeller to rotate forwards to enable the device to float out of the sea surface, and then the device is transferred to the ship by the crane.
Has the advantages that: compared with the prior art, the invention has the advantages that: through the combination of the soil drilling mechanism and other components, the device realizes slotting operation for the rock-based seabed, can synchronously realize laying operation of submarine cables, can meet the requirement of laying the submarine cables, can safely and effectively protect the submarine cables, prevents the submarine cables from being damaged, and has the advantages of reasonable and safe structure, easy production and manufacture, convenient use and high operation efficiency.
Drawings
FIG. 1 is a perspective view of the present invention;
FIG. 2 is a schematic perspective view of the present invention without the walking mechanism;
FIG. 3 is a schematic perspective view of the traveling mechanism;
FIG. 4 is a top view of the travel mechanism;
FIG. 5 is a front view of the present invention;
FIG. 6 is a top view of the present invention;
FIG. 7 is a left side view of the present invention;
FIG. 8 is a schematic structural view of an earth boring mechanism;
FIG. 9 is a wiring diagram of the present power generation control system.
Detailed Description
The present invention will be further illustrated with reference to the following figures and specific examples, which are to be understood as merely illustrative and not restrictive of the scope of the invention.
A rock-based seabed cable laying device is shown in figures 1-8 and comprises a machine body 1, a propeller thruster 2, a cable guide pipeline 3, an earth drilling mechanism 4, a travelling mechanism 5 and a control system 6.
The soil drilling mechanism 4 is arranged at the front part of the machine body 1 in a penetrating way, the soil drilling mechanism 4 comprises a hydraulic cylinder 41, a motor 42, a flange plate 43 and a drill bit 44, the drill bit 44 is a PDC drill bit, the hydraulic cylinder 41 vertically penetrates through the machine body 1 from top to bottom and is fixed with the machine body, a piston rod of the hydraulic cylinder 41 faces downwards, the motor 42 is connected with the piston rod through the flange plate 43, the flange plate 43 comprises a cylinder body and a plate body, the cylinder body is vertically arranged in the middle of one side face of the plate body and is connected with the cylinder body in an integrated forming way, the piston rod is inserted into the cylinder body and is fixed with the inner circumferential surface of the cylinder body through a plurality of bolts, the machine body of the motor 42 is fixed with the other side face of the plate body through a plurality of bolts, a motor shaft of the motor.
The hydraulic cylinder 41 is used for adjusting the position of the drill bit 44 up and down, the motor 42 provides power for the drill bit 44 to rotate and drill soil, and the drill bit 44 can drill a groove suitable for laying submarine cables on the foundation seabed.
The use of tracked undercarriages makes it easier to move on the seafloor due to the complexity of the seafloor terrain.
The control system 6 is mounted on the machine body 1, and as shown in fig. 9, the control system 6 includes a pre-filter 61, a digital signal processor 62, an output filter 63, a first pressure sensor 64, a second pressure sensor 65, a depth sensor 66, the pre-filter 61, the digital signal processor 62, the output filter 63 is integrally installed on the upper portion of the machine body 1, the pre-filter 61 and the output filter 63 are respectively in signal connection with the digital signal processor 62, the propeller 2, the hydraulic cylinder 41, the motor 42 and the power source 53 are respectively in signal connection with the output filter 63, the first pressure sensor 64 is installed on the head portion of the drill bit 44, the depth sensor 66 is installed on the side edge of the drill bit 44, the first pressure sensor 64 and the depth sensor 66 are respectively installed on the signal connection with the pre-filter 61, and the second pressure sensor 65 is installed on one of the upper crawler wheels 51 and is in signal connection with the pre-filter 61.
The laying method of the rock-based seabed cable laying device comprises the following steps:
the method comprises the following steps: the starting end of the submarine cable is placed in the cable guide pipeline 3, and the device is slowly placed in seawater by a crane and synchronously lowered;
step two: the shipborne main control system 7 on the existing work ship sends an instruction signal to the pre-filter 61, after the instruction signal is processed by the digital signal processor 62, the output filter 63 sends an instruction to the propeller 2, and the propeller 2 is triggered to rotate reversely to enable the device to dive;
step three: after the crawler wheels 51 contact the seabed, the second pressure sensor 65 judges that the device touches the seabed, an induction signal is sent to the front filter 61 and is processed by the digital signal processor 62, and then a signal for stopping working is sent to the propeller 2 through the output filter 63, so that the propeller 2 stops rotating;
step four: the control system 6 sends a signal to the hydraulic cylinder 41, the hydraulic cylinder 41 slowly extends the piston rod downwards after receiving the signal, so that the motor 42, the flange 43 and the drill bit 44 are put down, the distance between the seabed and the drill bit 44 is sensed through the first pressure sensor 64 at the head of the drill bit 44, when the drill bit 44 touches the seabed, the first pressure sensor 64 at the head of the drill bit sends a signal to be fed back to the control system 6, the control system 6 sends an instruction to the shipborne main control system 7 after receiving the signal, the shipborne main control system 7 supplies power to the motor 42, and the motor 42 starts to rotate the drill bit 44 to drill soil in the depth direction after receiving the signal;
step five: when the drilling depth reaches the set requirement, the depth sensor 66 sends a signal again and feeds back the signal to the control system 6, and the control system 6 sends a signal to stop the downward extending action of the hydraulic cylinder 41, so that the position of the drill bit 44 in the seabed is kept unchanged;
step six: the control system 6 feeds back a signal to the shipborne master control system 7, supplies power to the power source 53, so that the two crawler wheels 51 start to advance on the seabed to drive the whole device to move forwards, and the soil drilling mechanism 4 performs groove drilling operation in the length direction;
step seven: after the earth drilling mechanism 4 drills a groove on the seabed according to the setting, workers on the ship synchronously put the submarine cable, the submarine cable directly falls into the groove through the cable guide pipeline 3, and the drilling of the groove and the lower part of the submarine cable are synchronously carried out;
step eight: after the submarine cable is completely laid down, the shipborne main control system 7 sends an instruction to the control system 6, the control system 6 sends out a signal again, firstly, the power source 53 is controlled to enable the two crawler wheels 51 to stop advancing, then the motor 42 is controlled to stop rotating, the earth drilling operation of the drill bit 44 is stopped, then, the piston rod of the hydraulic cylinder 41 is controlled to move upwards to be separated from the seabed, the motor 42, the flange 43 and the drill bit 44 are retracted, finally, the propeller thruster 2 is controlled to rotate forwards to enable the device to float out of the sea surface, and then the device is transferred to a ship by the crane.
The device aims to successfully lay a submarine cable on the rock-based seabed, the position of a PDC drill bit is adjusted through a hydraulic cylinder to be aligned to the seabed at a proper angle for drilling soil, a drilled submarine cable trench is just used for laying the submarine cable, and the drilled soil can be re-laid on the submarine cable along with flowing seawater to play a role in protecting the submarine cable.
The device can carry out cable laying work like other cable laying devices when in normal work, and can highlight the advantages when meeting the severe seabed conditions such as a foundation seabed. Through the combination of the soil drilling mechanism and other components, the device realizes slotting operation for the rock-based seabed, can synchronously realize laying operation of submarine cables, can meet the requirement of laying the submarine cables, can safely and effectively protect the submarine cables, prevents the submarine cables from being damaged, and has the advantages of reasonable and safe structure, easy production and manufacture, convenient use and high operation efficiency.
Claims (9)
1. The utility model provides a rock-based seabed cable laying device which characterized in that: including organism (1), screw propeller (2), fairlead (3), bore native mechanism (4), running gear (5), control system (6), screw propeller (2) are in the relative both sides of organism (1) length direction are installed one at least respectively, fairlead (3) are followed organism (1) length direction from the top to the bottom slant wear down locate in organism (1), bore native mechanism (4) wear to establish install in the front portion of organism (1), running gear (5) install in the bottom of organism (1), control system (6) install in on organism (1), screw propeller (2) bore native mechanism (4) running gear (5) respectively with control system (6) signal connection.
2. A rock-based seabed cabling apparatus as claimed in claim 1, wherein: the soil drilling mechanism (4) comprises a hydraulic cylinder (41), a motor (42), a flange plate (43) and a drill bit (44), wherein the hydraulic cylinder (41) vertically penetrates through the machine body (1) from top to bottom and is fixed with the machine body, a piston rod of the hydraulic cylinder (41) faces downwards, the motor (42) is connected with the piston rod through the flange plate (43), a motor shaft of the motor (42) faces downwards, the drill bit (44) faces downwards and is connected with the motor shaft, and the hydraulic cylinder (41) and the motor (42) are respectively connected with a control system (6) through signals.
3. A rock-based seabed cabling apparatus as claimed in claim 2, wherein: the drill bit (44) is a PDC drill bit.
4. A rock-based seabed cabling apparatus as claimed in claim 2, wherein: the flange plate (43) comprises a cylinder body and a disc body, the cylinder body is vertically placed in the middle of one side face of the disc body and is integrally connected with the cylinder body, the piston rod is inserted into the cylinder body and is fixed with the inner circumferential face of the cylinder body through a plurality of bolts, and a machine body of the motor (42) is fixed with the other side face of the disc body through a plurality of bolts.
5. A rock-based seabed cabling apparatus as claimed in claim 1, wherein: the control system (6) comprises a pre-filter (61), a digital signal processor (62), an output filter (63), a first pressure sensor (64), a second pressure sensor (65) and a depth sensor (66), the pre-filter (61), the digital signal processor (62) and the output filter (63) are integrally installed on the upper portion of the machine body (1), the pre-filter (61) and the output filter (63) are respectively in signal connection with the digital signal processor (62), the propeller thruster (2), the soil drilling mechanism (4) and the travelling mechanism (5) are respectively in signal connection with the output filter (63), the first pressure sensor (64) and the depth sensor (66) are respectively installed on the soil drilling mechanism (4) and are in signal connection with the pre-filter (61), the second pressure sensor (65) is mounted on the travelling mechanism (5) and is in signal connection with the pre-filter (61).
6. A rock-based seabed cabling apparatus as claimed in claim 1, wherein: the walking mechanism (5) comprises crawler wheels (51), a connecting bridge (52) and a power source (53), wherein the crawler wheels (51) are arranged in parallel relatively and are connected through the connecting bridge (52), the power source (53) is installed on the connecting bridge (52), the crawler wheels (51) are respectively connected with the power source (53), a circular bump (521) is arranged on the upper portion of the connecting bridge (52), a circular hole is correspondingly formed in the bottom of the machine body (1), the bump (521) is inserted into the circular hole and is fixed with the bottom of the machine body (1), the bottom of the machine body (1) is located on two opposite sides of the bottom of the machine body (1) in the length direction, and the power source (53) is in signal connection with the control system (6).
7. A rock-based seabed cabling apparatus as claimed in claim 1, wherein: the machine body (1) is of a cuboid structure, and the end face of the head of the machine body (1) is an outward convex arc-shaped face.
8. A rock-based seabed cabling apparatus according to claim 1 or 7, wherein: the machine body (1) is of a solid structure or a hollow structure.
9. A method of laying a rock-based seabed cabling apparatus according to any of claims 1 to 8, comprising the steps of:
the method comprises the following steps: the starting end of the submarine cable is placed in a cable guide pipeline (3), and the device is slowly placed in seawater by a crane and synchronously lowered;
step two: the shipborne main control system (7) sends an instruction signal to the control system (6), the control system (6) receives the signal and sends an instruction to the propeller thruster (2), and the propeller thruster (2) is triggered to rotate reversely to enable the device to dive;
step three: after the walking mechanism (5) contacts the seabed, a signal is sent to the control system (6), the control system (6) receives the signal and sends an instruction to the propeller thruster (2), so that the propeller thruster (2) stops rotating;
step four: the control system (6) sends a signal to the soil drilling mechanism (4) to enable the soil drilling mechanism (4) to move downwards, when the soil drilling mechanism (4) touches the seabed, the signal is sent back to the control system (6), and the control system (6) sends a signal to enable the soil drilling mechanism (4) to start rotating to drill soil;
step five: when the soil drilling depth reaches a set requirement, a signal is sent back to the control system (6), the control system (6) sends a signal to stop the soil drilling mechanism (4) from moving downwards and send a command to start the travelling mechanism (5), so that the travelling mechanism (5) drives the whole device to move forwards, and the soil drilling mechanism (4) performs groove drilling operation;
step six: after the soil drilling mechanism (4) drills a groove on the seabed according to the setting, workers on the ship synchronously put down the submarine cable, the submarine cable directly falls into the groove through the cable guide pipeline (3), and the drilling of the groove and the lower part of the submarine cable are synchronously carried out;
step seven: after the submarine cable is laid, the shipborne main control system (7) sends an instruction to the control system (6), the control system (6) sends out a signal, firstly, the traveling mechanism (5) is controlled to stop advancing, then, the soil drilling mechanism (4) is controlled to stop rotating soil drilling operation, then, the soil drilling mechanism (4) moves upwards to be separated from the seabed, finally, the propeller (2) is controlled to rotate forwards to enable the device to float out of the sea surface, and then, the device is transferred to a ship by the crane.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010503498.9A CN111576526A (en) | 2020-06-05 | 2020-06-05 | Rock-based seabed cable laying device and laying method thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010503498.9A CN111576526A (en) | 2020-06-05 | 2020-06-05 | Rock-based seabed cable laying device and laying method thereof |
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| CN111576526A true CN111576526A (en) | 2020-08-25 |
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| CN202010503498.9A Pending CN111576526A (en) | 2020-06-05 | 2020-06-05 | Rock-based seabed cable laying device and laying method thereof |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112962697A (en) * | 2021-02-09 | 2021-06-15 | 浙江省海洋开发研究院 | Submarine cable burying and slotting method |
| CN114735173A (en) * | 2022-05-13 | 2022-07-12 | 武汉理工大学 | Quick laying robot for submarine cables of ocean wind power plant |
-
2020
- 2020-06-05 CN CN202010503498.9A patent/CN111576526A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112962697A (en) * | 2021-02-09 | 2021-06-15 | 浙江省海洋开发研究院 | Submarine cable burying and slotting method |
| CN114735173A (en) * | 2022-05-13 | 2022-07-12 | 武汉理工大学 | Quick laying robot for submarine cables of ocean wind power plant |
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