JP3323164B2 - Underwater cable burying equipment - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an underwater cable burying device for burying a cable in a seabed, and more particularly to an underwater cable burying device for burying a cable underwater by remote control.

[0002]

2. Description of the Related Art Along with a dramatic increase in demand for communication via the Internet and the like, many works for burying cables such as optical cables on the seabed have been performed. The work of laying submarine cables or underwater cables is performed by remotely controlling the underwater cable burying equipment from the ship. The underwater cable burying device is underwater or on the seabed (hereinafter, the seafloor will be described as an example.)
In a state where the submarine cable is grounded, high-pressure water is injected into the seabed ground, thereby excavating a buried trench, and a submarine cable is buried in the trench. For this purpose, some underwater cable burying devices have been practically used or proposed.

[0003] FIG.
1 shows a basic configuration of an underwater cable burying device proposed in Japanese Patent Application Laid-Open Publication No. HEI 10-125, 1988. The proposed underwater cable burying device 11 includes a submersible pump 13 and a propeller 14 inside a device main body 12, and a fulcrum arm 15 and a cable embedment arm 16 projecting forward of the device main body 12. The tip of the cable embedding arm 16 is a nozzle 17 from which a water jet 18 is ejected when the submersible pump 13 is operated.

In such an underwater cable burying apparatus 11, when burying the cable 22 in the seabed 21, the tip end 22A of a portion which has not yet been buried is gripped by the fulcrum arm 15, and the inverted U-shaped nozzle 17 is formed. While forming a groove on the seabed 21 while jetting the water jet 18 from below, the burying work is performed such that the cable 22 is pressed downward and pushed into the groove. At this time, the propeller 14 is rotated with the fulcrum arm 15 as a fulcrum, and the apparatus main body 12 is
Gives force to push down. As a result, the device body 1
According to the principle of leverage, the weight of 2 and the force greater than the propulsive force of the propeller 14 act on the nozzle 17, and the burying of the cable 22 proceeds.

[0005] Such underwater cable burying apparatus 11 proposed conventionally assumes that the seabed 21 is flat to some extent. However, the actual shape of the seabed is not always flat, and there are some places that are sloped. In such places, the principle of leverage cannot work,
There is a problem that the work of burying the cable 22 cannot be performed effectively.

FIG. 6 shows an underwater cable burying apparatus proposed to compensate for such a drawback, and a mother ship supplying power thereto. In this cable burying system, the mother ship 31 and the underwater cable burying device 32
Are connected by an umbilical cable 33 for transmitting power and control signals. The underwater cable burying device 32 includes a balance tank 37 mounted on a pair of left and right sleds 36 that are in contact with the sea floor 35, one for each.
(Each figure shows one on the near side.) In addition, a cylinder 39 for pressurizing air into the balance tank 37 is disposed inside the apparatus main body 38, and thrusters 41 to 44 for controlling postures in the vertical and horizontal directions are disposed. . Furthermore,
A submersible pump 45 is disposed at the center of the bottom of the apparatus main body 38, and a jet nozzle 46 connected thereto jets a water jet 47 to the seabed 35 to form a groove (not shown) for burying a cable. It has become.

In the proposed underwater cable burying device 32, when the seabed 35 is substantially flat, the buoyancy is reduced by pouring seawater into the balance tank 37 at the burying position, and the gravity of the device body 38 causes the buoyancy to decrease. The pair of sleds 36 are surely landed, and in this state, the water jet 47 is
5 to bury a cable (not shown). Also, when burying cables on slopes,
By adjusting the balance between the buoyancy of the balance tank 37 and the propulsive force generated by the rotation of the propeller portions of the thrusters 41 to 44, which are composed of blades (not shown), the sled 36 is grounded along the slope. In this state, a water jet 47 is jetted from the jet nozzle 46 to the seabed 35 to form a groove for burying a cable.

[0008]

As described above, in the proposed underwater cable burying device 32, the position of the device main body 38 is controlled by controlling the power of each of the thrusters 41 to 44 arranged at a plurality of locations. Cables can be buried even on slopes.

However, in comparison with the case where the underwater cable burying device 32 is installed on a flat place on the seabed 35, the proposed underwater cable burying device 32 requires a considerable amount of power to the thrusters 41 to 44 in order to keep the attitude in an inclined state. Had to be consumed. For this reason, in a situation where the power supplied from the mother ship 31 to the underwater cable burying device 32 is restricted, a situation may occur in which the amount of power allocated to the submersible pump 45 must be limited.
The excavation of the cable could not be performed efficiently, and it was difficult to efficiently bury the cable in a short time.

SUMMARY OF THE INVENTION An object of the present invention is to provide an underwater cable burying device capable of performing an efficient cable burying operation using relatively little electric power even on a slope.

[0011]

According to the first aspect of the present invention,
(A) receive power from the mother ship and control
An apparatus main body to which a connecting cable for transmitting and receiving signals is connected;
(B) At least one on each side of the main unit
And a plurality of spaces inside the device at intervals in the front-rear direction of the main unit.
A balance tank with walls and (c) inside the device body
In the area separated by the partition wall of the balance tank
For selectively injecting gas into at least a part of
(D) Water injection means for injecting water into the balance tank
And (e) placed in the device body and
With the supply of power, from the bottom of the device body to the landing
A submersible pump that spouts a water stream for cable burial,
(F) Arranged and connected at predetermined locations in the device body
Receives power from the cable and
By generating a water flow in all or part of the direction of
Propulsion force applying hand that applies propulsion force to the main body in any direction
Control signals relating to the stage and (g) the situation when the device body lands
Control signal sent from the mother ship
The submersible pump is driven and the water
Area separated by the partition wall of the balance tank
Power supply control means for controlling gas injection for each area
The cable burying device is provided.

[0012]

[0013]

That is, according to the first aspect of the present invention, a plurality of partitions are provided in the balance tank at intervals in the front-rear direction of the apparatus main body so that gas such as air can be independently press-fitted therein. In addition, the device main body can be inclined together with the water injection means. As described above, the attitude of the apparatus main body can be set to the inclined state without relying entirely on the propulsion means, so that sufficient power can be allocated to the submersible pump when the cable is buried. Further, in the invention according to claim 1 , the power supply control means sends a control signal relating to a situation at the time of landing of the main body to the mother ship, and drives the submersible pump from the mother ship side, supplies water with the water injection means, and partitions the balance tank with a cylinder. Since the gas injection control for each of the specified areas is controlled, it is possible to set the inclination angle of the device main body and bury the cable on the mother ship side, and the configuration of the underwater cable burying device side is simplified. Can be

According to a second aspect of the present invention, in the underwater cable burying apparatus according to the first aspect, the control signal relating to a situation at the time of landing is a signal indicating a state of pressure and inclination applied to the water bottom at the time of landing. I have.

In other words, according to the second aspect of the present invention, a signal indicating the state of the pressure applied to the bottom of the water and the state of inclination at the time of landing is sent to the mother ship, so that the present state of inclination and the state of grounding of the underwater cable burying device can be obtained. It is possible to notify the mother ship to improve the control accuracy of the mother ship.

According to the third aspect of the present invention, (a) an apparatus main body to which a connecting cable for receiving power supply from the mother ship and transmitting / receiving a control signal is connected; A balancing tank having a plurality of partitions disposed therein at intervals in the front-rear direction of the apparatus main body; and (c) at least a region disposed in the apparatus main body and partitioned by the partition of the balancing tank. A cylinder for selectively injecting gas into a part thereof; (d) a water injection means for injecting water into the balance tank; and (e) a power supply device disposed in the main body of the apparatus and receiving power supply from a connecting cable. A submersible pump for ejecting a water stream for burying a cable from the lower part of the main body to the landing surface; And (g) corresponding to a control signal relating to a situation at the time of landing of the main body of the apparatus. Power supply control means for inputting address information to be supplied and outputting a control signal for controlling the water injection of the water injection means and the press-in of gas in each area partitioned by the partition of the balance tank by the cylinder. To be prepared.

That is, according to the third aspect of the present invention,
Unlike the invention described in 1 above, the power supply control means uses the control signal relating to the situation at the time of landing obtained from the main body of the apparatus by itself, and injects water from the water injection means and discharges gas for each area partitioned by the partition wall of the balance tank by the cylinder. A control signal for controlling the press-fitting is output. by this,
The attitude of the underwater cable burying device can be controlled according to the topography of the water bottom without relying entirely on the control of the mother ship.

According to a fourth aspect of the present invention, in the underwater cable burying device according to the first to third aspects, the propulsion applying means includes:
A thruster that provides a propulsion force by rotating a wing-shaped member in water, and a thruster that provides a propulsion force for moving the device body in the front-rear direction and a thruster that provides a propulsion force for moving the device body in the vertical direction are arranged in the device body. It is characterized by having.

That is, in the invention according to claim 4 , the thrust applying means which can be used for attitude control and the like together with the balance tank in the underwater cable burying device is constituted by a thruster which applies thrust by rotating a blade-like member. Have been. There are those that give a propulsion force in the up-down direction and those that give a propulsion force in the front-rear direction, and these can complement the control of the posture as needed. Of course, since the inclination angle of the balance tank itself can be controlled according to the topography of the water bottom, there is no concern that excessive power is consumed by the thruster itself.

[0021]

BEST MODE FOR CARRYING OUT THE INVENTION

[0022]

DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described in detail below with reference to embodiments.

FIG. 1 shows the configuration of a cable burying system using an underwater cable burying device according to an embodiment of the present invention. In FIG. 1, the same portions as those in FIG. 6 are denoted by the same reference numerals, and description thereof will be omitted as appropriate.
The underwater cable burying device 61 of the present embodiment draws the umbilical cable 33 from the mother ship 62 to the power supply control device 64 in the device main body 63, and receives power and transmits and receives control signals to and from the mother ship 62. It has become.

At the bottom of the apparatus main body 63, one balance tank 65 is disposed on each of the left and right sides (only one on the near side is shown in the figure).
A sled 36 for grounding with 5 is attached.

The power supply control device 64 includes thrusters 41 to 44 in the device main body 63, a submersible pump 45, and a cylinder 66.
And decodes the control signal sent from the mother ship and controls the power supply based on the content of the control signal. In addition, a total of four ground pressure detectors 67 to 70 arranged at two positions before and after the pair of sleds 36 detect the pressure when the sled 36 is in contact with the seabed 35 at these four positions, and detect the inclination. The detector 72 detects the front, rear, left and right inclination states of the apparatus main body 63. These pieces of detection information are sent to the mother ship 62 via the power supply control device 64. Each of the ground pressure detectors 67 to 70 can be constituted by, for example, a spring member and a detection element for detecting the degree of bending thereof.

In a pair of balancing tanks 65, as shown in FIG.
Separate partitions 75, 76 are provided. The lower ends of these partition walls 75 and 76 do not reach the bottom surface of the balance tank 65, and a predetermined gap is provided. Also,
The cylinder 66 is a partition 7 of each balance tank 65.
Air can be separately injected into a total of four regions, a front region 77 partitioned by 5 and a rear region 78 partitioned by the partition 76.

The underwater cable burying device 6 having such a configuration
When the vehicle 1 moves underwater to a target place, a cylinder 66 is stored in a pair of balance tanks 65 under the control of the mother ship 62.
Air is injected using. At this time, air is pressed into the four regions of the left and right balance tanks 65. Thereby, the buoyancy of the left and right balance tanks 65 is increased, and the underwater cable burying device 61 can be moved to an arbitrary position while being lifted off the seabed 35 by appropriately driving the thrusters 41 to 44 in this state.

First, the case where the destination location is a flat ground as shown in FIG. 1 will be described. In this case, mother ship 6
The control (2) opens a valve (not shown) to start water injection evenly into the left and right balance tanks 65. At this time, the thruster 4 is used except for special cases such as when the current is strong.
Drives 1 to 44 are stopped. Left and right balance tank 6
The state in which the pair of left and right sleds 36 contact the ground due to the decrease in the buoyancy due to the decrease in the volume of air existing in 5 can be determined by the pressures detected by the total of four contact pressure detectors 67 to 70. Further, the state of the inclination of the apparatus main body 63 in the state of being grounded can be confirmed by the inclination detector 72.

On the mother ship 62 side, while the grounding is being performed, water is further injected into the left and right balance tanks 65 while referring to the detection results of the ground pressure detectors 67 to 70, and the jet nozzle 46 causes the water jet 47 to flow. Water injection is stopped in a state where the weight (self-weight) that can be ejected to the seabed 35 is added to the seabed.
In this state, the mother ship 62 operates the submersible pump 45,
Underwater excavation work will be performed and cables will be buried. It is preferable from the viewpoint of the reliability of the operation that the operation is performed in a state where the bottom of the underwater cable burying device 61 is securely in contact with the seabed 35.

When moving the underwater cable burying device 61 with the progress of cable burying, the thrusters 41, 4
2 and the main body 6 is driven by the vertical propulsion force.
3 lightly rises, and in this state, the other thrusters 43,
What is necessary is just to drive 44 and to move it in the direction in which the cable is embedded. Thereafter, as described above, water is poured into the left and right balance tanks 65 to perform a water bottom excavation operation and bury cables. Hereinafter, the same applies. The amount of water injected into the left and right balance tanks 65 is adjusted so that the thrusters 41 and 42 apply a force for pressing the apparatus main body 63 against the seabed 35 during excavation of the water floor, and the drive of the thrusters 41 and 42 is stopped or moved in the opposite direction during movement. The underwater excavation work and the cable burying work may be performed by giving buoyancy by the rotational drive of the cable.

FIG. 2 shows a state in which the underwater cable burying device has moved to a slope. It is assumed that the underwater cable burying device 61 which has been in a substantially horizontal state moves on the seabed and reaches the inclined seabed 35A. In this case, when the main body 63 is lowered by injecting a predetermined amount of water into the left and right balance tanks 65 (see FIG. 1), the four ground pressure detectors 67 to
70 comes into contact with the inclined seabed 35A,
Detect pressure. In the example shown in FIG. 2, two ground pressure detectors 67 and 68 located at the tip of the sled 36 detect the pressure.

In this state, if water is injected around the rear area 78 of the balance tank 65 on the side of the mother ship 62 (see FIG. 1), the apparatus main body 63 is tilted in the direction of arrow 81, and the sled 36
Can be grounded in parallel to the inclined sea floor 35A. At this stage of the attitude control, it is also effective to press air into the front area 77 partitioned by the partition 75 of the balance tank 65.

FIG. 3 shows a state in which the underwater cable burying device is grounded on a slope as described above. When the underwater cable burying device 61 is grounded to the inclined seabed 35A, the data of the four ground pressure detectors 67 to 70 and the inclination detector 72 are used on the mother ship 62 (see FIG. 1) side.
Water injection into each part of the balance tank 65 or press-fit of air by the cylinder 39 can be adjusted. Therefore, unless it is a special environment such as a case where the inclination is particularly steep, the submersible pump 45 can be operated without driving the thrusters 41 to 44 to perform the underwater excavation work and bury the cable. .

That is, in the conventional case, the inclined seabed 35
The submersible pump 45 was operated while driving the thrusters 41 to 44 in order to maintain the state of being grounded to A in a well-balanced manner, and a large amount of power was consumed. For this reason, even if the cable is buried on the slope, the duration of the cable must be short. In the case of this embodiment, the electric power can be freely distributed to the submersible pump 45. For this reason, conventionally, if the power supplied from the mother ship via the umbilical cable 33 is not sufficient, the thrusters 41 to 44
The power consumption of the submersible pump 45 can be reduced by the amount of power consumed.
6 and cylinder 66, front area 77 and rear area 78
By individually controlling the injection of air into the case, the work of burying the case can be advanced with substantially the same power consumption as that of the flat ground. In the example shown in FIG. 3, a large amount of air is press-fitted into the front area 77 of the balancing tank 65, and buoyancy is generated in this area, so that the entire posture of the underwater cable burying device 61 is well placed on the inclined seabed 35 </ b> A. Adapted.

Moreover, the underwater cable burying device 6 of this embodiment
Reference numeral 1 designates an apparatus main body 63 supported by two left and right sleds 36, each of which is equipped with a balance tank 65, and in which water injection and air injection into the balance tank 65 are performed independently. Therefore, not only when the device is tilted back and forth, but also when tilted to the left and right, it is possible to make a good ground contact with the seabed.

Modification

In the embodiment described above, the underwater cable burying device 61 is completely controlled from the mother ship 62. For this reason, a total of four ground pressure detectors 67 to 70 and an inclination detector 72 are provided. However, basically, even if all or some of these devices are omitted, the partition wall 7 is not provided.
Left and right balance tanks 65 each having 5 and 76
The same effect can be obtained by controlling the injection of water and the press-fitting of air from the ship.

On the other hand, if the underwater cable burying device 61 is equipped with a total of four ground pressure detectors 67 to 70 and the inclination detector 72 as described in the embodiment, control of the attitude at the time of landing and control of the sea floor are possible. The adjustment of the applied weight is performed by the apparatus main body 63.
Can be controlled to some extent.

FIG. 4 shows an outline of automatic control when a landing instruction is given to the underwater cable burying device. When a landing instruction arrives from the mother ship 62 shown in FIG. 1 via the umbilical cable 33 to the device main body 63 (step S91: Y), a CPU (central processing unit) (not shown) in the power supply control device 64 on the device main body 63 side. ) Executes a program also stored in a ROM (read only memory), not shown, and uniformly injects a predetermined amount of water from the cylinder 66 into the left and right balance tanks 65 to lower the underwater cable burying device 61. It is started (step S92).

In this state, the CPU waits for one of the four ground pressure detectors 67 to 70 to come into contact with the sea floor and to detect ground contact (step S92). Then, when the grounding is detected, the subsequent detection result of the tilt detector 72 and 4
On the basis of the pressures detected by the two ground pressure detectors 67 to 70, control of water injection into the left and right balance tanks 65 and control of air injection into the front area 77 and the rear area 78 are performed.

For example, in the initial stage of grounding as shown in FIG. 2, one or two of the four ground pressure detectors 67 to 70 first detect grounding. In this state, the entire grounding has not been completed yet. Therefore, the ground pressure detector 67
First, control is performed such that the proportion of water occupied by the tank portion on the opposite side of the detector in which the grounding is first detected among .about.70 is relatively large. Next, four ground pressure detectors 67 to 7
When at least three of the zeros are at the stage of detecting the touchdown, these touchdown pressures are corrected by the degree of tilt detected by the tilt detector 72, and the pressure (own weight) at the touchdown is determined by the water jet by the jet nozzle 46. Water injection into the balance tank 65 or press-in of air into the front area 77 and the rear area 78 is individually controlled so as to be a value that can withstand the ejection of 47. Since the balance tank 65 has a pair of left and right sides, the apparatus main body 63 can be grounded so as to be in a stable state according to not only the front and rear but also the left and right inclination. Thereafter, the cable burying operation is started.

A table is prepared in the ROM assuming various situations at the time of landing. Address information output from each detector is given to this table, and each area of the balance tank 65 is provided along the table. Control of the press-in amount of the air and control of water injection at 77 and 78 may be performed.

In the embodiment and the modified examples described above, the left and right balance tanks 65 are divided into three areas, and air can be injected into only the front area 77 and the rear area 78 among them. Naturally, the number of divisions and the area into which air is injected are not particularly limited. In the embodiment, the landing of the underwater cable burying device 61 is controlled only by adjusting the balancing tank 65 so that electric power can be allocated to the underwater pump 45 as much as possible during the burying operation of the cable. With thrusters 41-
It is of course possible to perform quick landing and movement control by controlling the driving of 44 in parallel. Also in this case, by controlling each area of the balance tank 65, the power used for the thrusters 41 to 44 can be relatively reduced.

[0044]

As described above, claims 1 to 4 are described.
According to the described invention, a plurality of partitions are provided in the balance tank at intervals in the front-rear direction of the device main body, and gas such as air can be independently injected into these, so that the water injection means is also provided. At the same time, the inclination of the apparatus main body can be set freely. Therefore, since the posture of the apparatus main body can be set to the inclined state without relying entirely on the propulsion means, not only can the power be sufficiently allocated to the submersible pump when the cable is buried, but also the overall power The consumption can be reduced. In addition, since the balancing tanks are arranged at least one on each side of the device main body, the posture of the underwater cable burying device can be similarly stabilized even on the terrain inclined left and right, and the depth of burying the cable can be sufficiently increased. Work efficiency can be increased while deepening.

According to the first aspect of the present invention, a control signal relating to a situation at the time of landing of the apparatus main body is sent to the mother ship, and the control signal sent from the mother ship is decoded to drive the submersible pump and water injection means. Control of gas injection for each area partitioned by the partition of the balance tank by water injection and cylinders, so that the status of the underwater cable burying equipment can be accurately grasped on the mother ship side, and work efficiency Can be increased.

Further, according to the second aspect of the present invention, a signal indicating the pressure applied to the water bottom and the state of the inclination at the time of landing is sent to the mother ship, so that the state of the current inclination and the underwater cable burying device are provided. Notifying the mother ship of the grounding status of the ship, not only improving the control accuracy of the mother ship, but also accurately controlling the injection of water and gas injection into the balance tank, saving power waste and reducing air, etc. The amount of use of the cylinder containing the gas can be reduced.

According to the third aspect of the present invention, the address information corresponding to the control signal relating to the situation at the time of the landing of the main body of the apparatus is input, and the apparatus is partitioned by the water supply means and the partition of the balance tank by the cylinder. Since the control of gas injection for each region is performed, the control from the mother ship can be simplified.

Further, according to the fourth aspect of the present invention, the thrust applying means is constituted by thrusters which apply thrust by rotating a blade-like member, and these thrusters apply thrust vertically. If used together with the balance tank for attitude control of underwater cable burying equipment, the movement of the equipment body can be controlled with relatively low power consumption, contributing to speeding up work. Can be.

[Brief description of the drawings]

FIG. 1 is a schematic configuration diagram showing a state in which an underwater cable burying device according to an embodiment of the present invention is working on a flat ground.

FIG. 2 is an explanatory diagram showing a state where the underwater cable burying device of the present embodiment has moved to a slope.

FIG. 3 is a schematic configuration diagram showing a state in which the underwater cable burying device of the present embodiment is grounding on a slope and burying a case.

FIG. 4 is a flowchart showing a state of attitude control of an underwater cable burying device according to a modification of the present invention.

FIG. 5 is an explanatory diagram showing a state in which one of the conventional underwater cable burying devices is performing a burying operation of a case.

FIG. 6 is a schematic configuration diagram showing a state in which a conventionally proposed underwater cable burying device is working on a flat ground.

[Explanation of symbols]

 33 Umbilical cable 35 (relatively flat) seabed 35A Inclined seabed 41-44 Thruster 45 Underwater pump 46 Jet nozzle 61 Underwater cable burying device 63 Device body 64 Power supply control device 65 Balancing tank 66 Cylinder 67-70 Ground pressure detector 72 Tilt detector 75, 76 Partition wall 77 Front area 78 Rear area

──────────────────────────────────────────────────続 き Continued on front page (58) Field surveyed (Int.Cl. ⁷ , DB name) H02G 1/10

Claims (4)

(57) [Claims] 1. Control and control of power supply from a mother ship
Main unit connected to a connection cable for transmitting and receiving signals for
And one at a time at least on the left and right sides of the main unit.
Multiple bulkheads at intervals in the front-rear direction of the main unit.
And a balance tank disposed in the main body of the apparatus.
Gas is selectively applied to at least a part of the area partitioned by the wall.
A cylinder for press-fitting , water injection means for injecting water into the balance tank, and electric power from the connection cable, which is disposed in the apparatus main body.
Supplied from the bottom of the device body to the ground.
A submersible pump for ejecting water for Buru embedded, are arranged at a predetermined position in the apparatus main body, the connecting Ke
Receive power from the
By generating a water flow in all or part of the direction,
Propulsion applying means for applying propulsion in any direction to the body
And a control signal relating to a situation at the time of landing of the device body.
Control signals sent from the mother ship
Read the drive of the submersible pump and water injection of the water injection means
Partitioned by the partition wall of the balance tank with a cylinder
Power supply control means for controlling the press-in of gas in each of the specified areas
An underwater cable burying device, comprising: 2. A control signal relating to the situation at the time of landing is:
Signal indicating the pressure and slope applied to the water floor at landing
The underwater cable burial according to claim 1, wherein
Equipment. 3. Control and control of power supply from the mother ship
Main unit connected to a connection cable for transmitting and receiving signals for
And one at a time at least on the left and right sides of the main unit.
Multiple bulkheads at intervals in the front-rear direction of the main unit.
And a balance tank disposed in the main body of the apparatus.
Gas is selectively applied to at least a part of the area partitioned by the wall.
A cylinder for press-fitting , water injection means for injecting water into the balance tank, and electric power from the connection cable, which is disposed in the apparatus main body.
Supplied from the bottom of the device body to the ground.
A submersible pump for ejecting water for Buru embedded, are arranged at a predetermined position in the apparatus main body, the connecting Ke
Receive power from the
By generating a water flow in all or part of the direction,
Propulsion applying means for applying propulsion in any direction to the body
And a control signal relating to a situation at the time of landing of the apparatus main body.
Address information, and water injection by the water injection means and
Partitioned by a partition wall of the balance tank by cylinder
Outputs a control signal to control gas injection for each area.
Underwater, comprising:
Cable burying equipment. 4. The means for imparting propulsion force has a blade-like shape in water.
A thruster that gives propulsion by rotating members
Yes, provides a propulsion force to move the device body in the front-back direction
A thruster and a thrust that provides thrust to move up and down
The device is disposed on the apparatus body.
The underwater cable burying device according to claim 1.