CN106080987A

CN106080987A - Sea cable synchronizes unwrapping wire submariner device under water

Info

Publication number: CN106080987A
Application number: CN201610511765.0A
Authority: CN
Inventors: 祝贺; 何旭; 严俊韬; 刘程; 李映桥; 于卓鑫; 王基琛; 王潇; 牛丽娜; 崔晓彤; 刘阳; 李秋澎
Original assignee: Northeast Dianli University
Current assignee: Northeast Electric Power University
Priority date: 2016-07-03
Filing date: 2016-07-03
Publication date: 2016-11-09
Anticipated expiration: 2036-07-03
Also published as: CN106080987B

Abstract

The present invention is that a kind of sea cable synchronizes unwrapping wire submariner device under water, is characterized in: includes boat-carrying mechanical system, synchronized push system, pneumatic emission system, calculate central control system and towing is moved under water system.Collection electric automatization, aerodynamic, electromechanical integration, the combination of the technology such as Single-chip Controlling, it is possible to realize underwater performance, the least by wind wave action；Can realize automatically detecting real-time unwrapping wire, positioning precision 0.5m 3m, course precision 0.01 °, it is possible to accurately control cable line corridor；Cabling speed is fast and can control in real time, and the fastest cabling speed is up to 50KM/h；Automaticity is high, greatly reduces workmen's quantity；Integrated degree is high, and whole process can monitor；Cable line corridor construction obstacle need not be removed, protect environment；All system recoverables, the second investment is little；System synchronization is run, and reduces sea cable and lays tension force；Circuit repairing ability is strong, is suitable for the circuit reconstruction after submarine earthquake；Rational in infrastructure, dependable performance.

Description

Sea cable synchronizes unwrapping wire submariner device under water

Technical field

The present invention relates to Submarine Cable Laying technical field, be that a kind of sea cable synchronizes unwrapping wire submariner device under water.

Background technology

Offshore islands and the power supply of production platform, generally have diesel-driven generator, crossing pole, submarine cable three kinds.Generating Machine finite capacity, it is difficult to meet extensive electricity needs；Set up crossing pole cost high, and windy salty region, seashore is not suitable for Pole tower operation；The submarine cable life-span is long, technology maturation, and be considered preferably to power channel.2015, " global energy the Internet " In conception, across continent, networking needs all to cross over sea with North America etc. with Asia, Asia with North America, Australia for Africa and Europe, Europe Ocean, submarine cable is to realize these across continent networking, the requisite key in structure global energy the Internet.

But, although submarine cable holds the balance, but its to lay link be a big obstacle.Current sea cable lays generally to be adopted The mode " walked while put " with cable laying ship, whole process needs accurately to control line corridor and immersion angle, and not only speed is delayed Slowly, and very difficult, and construction often takies a large amount of human and material resources.Additionally, changeable sea climate condition is the most right Engineering causes grave danger, and ordinary wave, strong wind all can make cable laying ship off-track, and when correcting track, whole engineering all can Stagnate, the consumption plenty of time, payout process easily occurring, wave attacks sea cable directly, cause cable route deflection corridor, sea even sea cable originally Body is impaired, if meeting with marine high wind, risk more can will be increased dramatically, it is most likely that causes the failure of whole engineering.All scarce Fall into the development that the most greatly have impact on submarine line.

Therefore, invent a kind of " safe and reliable, accurate, quick " and the submarine cable paying off system of weather impact can be reduced Become the problem that current submarine cable technical field of construction is badly in need of solving.

Summary of the invention

It is an object of the invention to overcome the deficiency of existing unwrapping wire mode, it is provided that one can be greatly decreased weather and apply sea cable If impact, the extra large cable that payingoff speed is fast, accuracy is high, laying quality is good synchronizes unwrapping wire submariner device under water.

It is an object of the invention to be achieved through the following technical solutions: a kind of sea cable synchronizes unwrapping wire submariner device under water, its Feature is: it includes boat-carrying mechanical system 1, synchronized push system 2, pneumatic emission system 3, calculates central control system 4 and pull latent Row system 5, described synchronized push system 2, pneumatic emission system 3, calculates central control system 4 and is each attached to boat-carrying mechanical system 1 On, towing system 5 of moving under water can depart from the barge 6 of boat-carrying mechanical system 1 and moves；Described boat-carrying mechanical system 1 pushes away for synchronization Send system 2, pneumatic emission system 3, pull move under water system 5 and the transport of sea cable, and sea cable can be drawn from sea cable storage box 18 To synchronized push system 2；Described synchronized push system 2 pushes sea cable for coordinating the speed sync pulling system 5 of moving under water；Described Pneumatic emission system 3 is used for launching towing and moves under water system 5；The transceiver 77 of described calculating central control system 4 drags for reception Drag position, sonar information that the system of moving under water 5 is passed back, pass to computer center 78 process detection information, determine seafloor topography, Planning is laid path and adjusts navigation direction, then order transceiver 77 is beamed back towing moves under water system 5, weather monitoring Weather is monitored by instrument 79 in real time, and GPS reference station 80 receives satellite-signal, monitors GPS error, as calibration value, for than The surveyed observation of system that towing is moved under water 5；Described towing move under water system 5 resistance to compression protection shell 81 can protect sweep sea detection dress Put 82, radio transmitting device 83, presetting apparatus 84, navigation information device 85, fore-and-aft balance device 86, buoyancy adjustment device 87 and advancing steering device 88, radio transmitting device 83 relies on holding wire to obtain interior instrument information, then by wireless side Formula passes to calculate central control system 4, and the order calculating central control system 4 passes radio transmitting device 83 back with wireless form, wireless Transmitting device 83 passes to presetting apparatus 84 by holding wire.Presetting apparatus 84 connects and controls navigation information device 85, fore-and-aft balance device 86, buoyancy adjustment device 87 and advancing steering device 88.

Described boat-carrying mechanical system 1 includes barge 6, load-bearing plate 7, bracing frame 8, bearing 9, circular traction frame 10, moment electricity Machine 11, reductor 12, transmission band 13, first fix anchor 14, second fix anchor the 15, the 3rd fix anchor the 16, the 4th fix anchor 17, sea Cable storage box 18, high speed untwisting machine 19, cable laying machine 20 and boat-carrying power supply 21, described load-bearing plate 7 is put on the left of barge 6, with support Frame 8 is connected, and circular traction frame 10 is hinged with bracing frame 8 by bearing 9, and the torque motor 11 being fixed on barge 6 is positioned at circle Traction frame 10 lower left, torque motor 11 is connected with circular traction frame 10 by reductor 12 and transmission band 13, sea cable storage box 18 are positioned at circular traction frame 10 lower right, first fix anchor 14, second fix anchor the 15, the 3rd and fix anchor the 16, the 4th and fix anchor 17 Be suspended on the corner location of barge 6, high speed untwisting machine 19 sea cable storage box 18 and cable laying machine 20 between, by bolt with refute Ship 6 deck be connected, cable laying machine 20 between the receptor 23 of high speed untwisting machine 19 and synchronized push system 2, by bolt with Barge 6 deck is connected, and the sea outlet of cable storage box 18, high speed untwisting machine 19, cable laying machine 20, synchronized push system 2 are positioned at same On bar centrage, boat-carrying power supply 21 is put in the power transformation box on the left of barge 6 deck.

Described synchronized push system 2 includes chute inlet 22, receptor 23, servomotor 24, driving chain 25, synchronous gear Wheel 26, driven pulley 27, engagement chain 28, watertight conduit 29, hydraulic pressure sensor 30, obturator 32 and engaging detent 33, slideway The receptor 23 of entrance 22 and reception signal is connected on barge 6 deck, and the servomotor 24 being fixed on barge 6 deck passes through Driving chain 25 is connected with synchromesh gear 26, and synchromesh gear 26 is connected with driven pulley 27 by engagement chain 28, engaging detent 33 Being positioned in engagement chain 28, the top of the watertight conduit 29 arranged outside slideway is connected on barge 6 deck, and its bottom is connected in On the transmitting tube 40 of pneumatic emission system 3, hydraulic pressure sensor 30 is put inside watertight conduit 29, and obturator 32 includes rustless steel Steel plate 34, hinge 35, electric magnet 36, bumping post 37, closed-loop 38 and elastic rubber ring 39, stainless-steel sheet 34 is connected in transmitting tube On 40, hinge 35 is hinged on stainless-steel sheet 34, closed-loop 38 embedding elastic rubber ring 39, end connect electric magnet 36, electricity It is connected with two bumping posts 37 on rear side of Magnet 36.

Described pneumatic emission system 3 includes transmitting tube 40, launches cushion cap 41 and pneumatic means 42；Transmitting tube 40 is overlapped on to be sent out Penetrating on cushion cap 41, pneumatic means 42 is positioned at outside transmitting tube 40, transmitting tube 40 by before, during and after three sections form, use each other Flange and bolt connect, including protecgulum 43, bonnet 44, front gas-tight ring 45, middle gas-tight ring 46, rear gas-tight ring 47, upper rail 48, under Guide rail 49, left rail 50, right rail 51, front upper liquid level sensor 52, front lower liquid level sensor 53, go up liquid level sensor afterwards 54, rear lower liquid level sensor 55 and under water junction box 56, front gas-tight ring 45 is fixed on transmitting tube 40 leading portion and junction, stage casing, in Gas-tight ring 46 is fixed on the central authorities in transmitting tube 40 stage casing, and rear gas-tight ring 47 is fixed on transmitting tube 40 stage casing and back segment junction, on Guide rail 48 is T-slot, and upper rail 48 is positioned at transmitting tube 40 inwall top, and lower guideway 49 is positioned at bottom transmitting tube 40 inwall, left side Guide rail 50, right rail 51 lay respectively at transmitting tube 40 inwall arranged on left and right sides, upper rail 48, lower guideway 49, left rail 50, It is internal that right rail 51 is all fixed on transmitting tube 40 by set screw, and front upper liquid level sensor 52 is put on transmitting tube 40 leading portion Side, front lower liquid level sensor 53 is put below transmitting tube 40 leading portion, and rear upper liquid level sensor 54 is put above transmitting tube 40 back segment, Rear lower liquid level sensor 55 is put below transmitting tube 40 back segment, front upper liquid level sensor 52, front lower liquid level sensor 53, goes up liquid afterwards Level sensor 54 and rear lower liquid level sensor 55 are both connected on the junction box under water 56 in transmitting tube 40 stage casing, launch cushion cap 41 Bottom cabin, including backing plate 57, front fixed steelring 58, rear fixed steelring 59, backing plate 57 is fixed in bottom barge 6 cabin, front Fixed steelring 58, rear fixed steelring 59 are socketed through backing plate 57 with transmitting tube 40；Pneumatic means 42 is positioned at outside transmitting tube 40, bag Include front ventilation valve 60, rear venting valve 61, impulse flask 62, impulse flask switch valve 63, impulse flask relief valve 64, launch valve 65, check valve 66, middle air bottle 67, middle air bottle switch valve 68, middle air bottle relief valve 69, transmitting tube equalizing valve 70, water storage Cabin 71, water tank ventilation valve 72, front water injection valve 73, rear water injection valve 74, hydraulic press 75 and shackle rod 76；Impulse flask 62 depends on Secondary with impulse flask switch valve 63, impulse flask relief valve 64, launch valve 65, check valve 66 and transmitting tube 40 gas circuit and connect；In Air bottle 67 is connected to water storage cabin 71 successively with middle air bottle switch valve 68, middle air bottle relief valve 69, and water storage cabin 71 is by front Water injection valve 73, rear water injection valve 74 connect with transmitting tube 40 water route, and hydraulic press 75 is fixed on hull emission pipe 40 bottom, pass Dynamic pull bar 76 is hinged on bottom transmitting tube 40, and front end connects transmitting tube 40 protecgulum 43, and rear end connects hydraulic press 75.

Described calculating central control system 4 is positioned on the right side of barge 6, including transceiver 77, computer center 78, weather monitoring Instrument 79 and GPS reference station 80, transceiver 77, weather monitoring instrument 79, GPS reference station 80 are put into equipment placement case, are calculated Machine center 78 is arranged in barge 6 command post.

Described towing move under water system 5 be divided into before, during and after three sections, including resistance to compression protection shell 81, sweep sea detection device 82, Radio transmitting device 83, presetting apparatus 84, navigation information device 85, fore-and-aft balance device 86, buoyancy adjustment device 87 and Advancing steering device 88；Resistance to compression protection shell 81 top layout conductor 89, rear guide 90, be used for snapping in upper rail 48, sweep sea Detection device 82 includes Forward-Looking Sonar 91, side scan sonar 92, sonic-sounding gear 93, sea magetometer 94, changing of Forward-Looking Sonar 91 Can be positioned at towing and move under water system 5 top by device basic matrix, the signal generator of Forward-Looking Sonar 91, amplifier, matched filtering device, scanning become Parallel operation is positioned at towing and moves under water above system 5 leading portion, and the signal generator of side scan sonar 92, amplifier, matched filtering device, scanning become Parallel operation is positioned at towing and moves under water immediately below on front side of system 5, the signal generator of sonic-sounding gear 93, amplifier, matched filtering device, sweeps Retouching changer and be positioned at side scan sonar 92 rear, Forward-Looking Sonar 91, side scan sonar 92, the transducer array of sonic-sounding gear 93 are all put Bottom system 5 is moved under water in towing, the signal processing region of sea magetometer 94 is positioned at above echo depth sounder, and probe positions is the end of at Transducer array central authorities of portion.

Described radio transmitting device 83 for sweeping Hisense and cease, navigation information and towing move under water system 5 internal sensor institute The information of obtaining passes to calculating central control system 4, and the order that calculating central control system 4 is assigned is passed to presetting apparatus 84, wireless biography Defeated device 83 is positioned at towing and moves under water on rear side of system 5 leading portion.

Described presetting apparatus 84 includes single-chip microcomputer 95, clock circuit 96, under water patch panel 97 with instrument power supply 98 even Connect；

Described navigation information device 85 is positioned on front side of leading portion, including Doppler sonar log 99, differential GPS 100, compass 101 and trim meter 102, Doppler sonar log 99, differential GPS 100, compass 101 and trim meter 102 are all put and are moved under water in towing On system 5 instrument draw-in groove；The circuit of presetting apparatus 84 includes: the first relay K M₁, the first diode VD₁, the five or three pole Pipe VT₅With the first pull-up resistor R₁The first outfan P with single-chip microcomputer 95₁Connect；Second relay K M₂, the second diode VD₂、 4th audion VT₄With the second pull-up resistor R₂The second outfan P with single-chip microcomputer 95₂Connect；3rd relay K M₃, the three or two Pole pipe VD₃, the 3rd audion VT₃With the 3rd pull-up resistor R₃The 3rd outfan P with single-chip microcomputer 95₃Connect；4th relay KM₄, the 4th diode VD₄, the second audion VT₂With the 4th pull-up resistor R₄The 4th outfan P with single-chip microcomputer 95₄Connect；The Five relay K M₅, the 5th diode VD₅, the first audion VT₁With the 5th pull-up resistor R₅The 5th outfan P with single-chip microcomputer 95₅ Connect；First relay K M₁First dynamic touch chalaza SQ₁Control equilibrium water pump 107 to rotate forward；Second relay K M₂Transfer contact SA controls equilibrium water pump 107 and inverts；3rd relay K M₃Second dynamic touch chalaza SQ₂Control kingston valve 110；4th relay KM₄The 3rd dynamic touch chalaza SQ₃Control breather valve 112；5th relay K M₅The 4th dynamic touch chalaza SQ₄Control air compressor machine 111.

Described fore-and-aft balance device 86 includes bow compartment water tank 103, after-peak tank water tank 104, pipeline 105, effusion meter 106 and equilibrium Water pump 107, bow compartment water tank 103 is connected by pipeline 105 with after-peak tank water tank 104, and pipeline 105 interface is by equilibrium water pump 107 Outlet pass, equilibrium water pump 107 is by the positive and negative water transferring and transferring in bow compartment water tank 103 and after-peak tank water tank 104.

Described buoyancy adjustment device 87 is positioned at towing and moves under water system 5 stage casing, and buoyancy adjustment device 87 includes main ballast tank 108, air filter 109, kingston valve 110, air compressor machine 111, breather valve 112 and gas bomb 113.

It is collection electric automatization, aerodynamic, electromechanical integration that the extra large cable of the present invention synchronizes unwrapping wire submariner device under water, single The combination of the technology such as sheet machine control, and the advantage compared with existing cable ship:

1. underwater performance is the least by wind wave action；

2. can realize automatically detecting real-time unwrapping wire, positioning precision 0.5m-3m, course precision 0.01 °, it is possible to accurately control electricity Cable line corridor；

3 cabling speed are fast and can control in real time, and the fastest cabling speed is up to 50KM/h；

4. automaticity is high, greatly reduces workmen's quantity；

5. integrated degree is high, and whole process can monitor；

6. need not remove cable line corridor construction obstacle, protect environment；

The most all system recoverables, the second investment is little；

8. system synchronization is run, and reduces sea cable and lays tension force；

9. circuit repairing ability is strong, is suitable for the circuit reconstruction after submarine earthquake；

The most rational in infrastructure, dependable performance.

Accompanying drawing explanation

Fig. 1 is boat-carrying mechanical system front view；

Fig. 2 is boat-carrying mechanical system top view；

Fig. 3 is the A close-up schematic view in Fig. 1；

Fig. 4 is the B close-up schematic view in Fig. 2；

Fig. 5 is the C close-up schematic view in Fig. 2；

Fig. 6 is the 1-1 cross-sectional schematic of Fig. 1；

Fig. 7 is the 2-2 cross-sectional schematic of Fig. 1；

Fig. 8 is the 3-3 cross-sectional schematic of Fig. 3；

Fig. 9 is that towing is moved under water system structure schematic diagram；

Figure 10 is the program control system circuit theory diagrams in Fig. 9；

Figure 11 synchronizes unwrapping wire submariner device schematic diagram under water for sea cable.

In figure: 1 boat-carrying mechanical system, 2 synchronized push systems, 3 pneumatic emission systems, 4 calculating central control systems, 5 towings are dived Row system, 6 barges, 7 load-bearing plates, 8 bracing frames, 9 bearings, 10 circular traction frame, 11 torque motors, 12 reductors, 13 transmission bands, 14 first fix anchor, 15 second fix anchor, 16 the 3rd fix anchor, 17 the 4th fix anchor, 18 sea cable storage box, 19 high speed back twists Machine, 20 cable laying machines, 21 boat-carrying power supplys, 22 chute inlet, 23 receptors, 24 servomotors, 25 driving chains, 26 synchromesh gears, 27 driven pulleys, 28 engagement chain, 29 watertight conduit, 30 hydraulic pressure sensors, 31 lead to line corridor, 32 obturators, 33 engaging detent, 34 stainless-steel sheets, 35 hinges, 36 electric magnet, 37 bumping posts, 38 closed-loops, 39 elastic rubber rings, 40 transmitting tubes, 41 transmittings are held Platform, 42 pneumatic means, 43 protecgulums, 44 bonnets, gas-tight ring before 45, gas-tight ring in 46, gas-tight ring, 48 upper rails after 47, lead for 49 times Rail, 50 left rail, 51 right rail, upper liquid level sensor before 52,53 front lower liquid level sensors, upper liquid level sensor after 54, Lower liquid level sensor after 55,56 under water junction box, 57 backing plates, fixed steelring before 58, fixed steelring after 59, ventilation valve before 60,61 Rear venting valve, 62 impulse flasks, 63 impulse flask switch valves, 64 impulse flask relief valve, 65 launch valves, 66 check valves, in 67 Air bottle, air bottle switch valve in 68, air bottle relief valve, 70 transmitting tube equalizing valves, 71 water storage cabins, 72 water tanks ventilate in 69 Valve, water injection valve before 73, water injection valve after 74,75 hydraulic presses, 76 shackle rods, 77 transceivers, 78 computer centers, 79 Weather monitoring instrument, 80GPS base station, 81 resistance to compressions protection shells, 82 sweep sea detection device, 83 radio transmitting devices, 84 program controls Device processed, 85 navigation information devices, 86 fore-and-aft balance devices, 87 buoyancy adjustment device, 88 advancing steering devices, 89 conductors, Guide after 90s, 91 Forward-Looking Sonars, 92 side scan sonars, 93 sonic-sounding gears, 94 sea magetometers, 95 single-chip microcomputers, 96 clock circuits, 97 patch panel, 98 instrument power supplys, 99 Doppler sonar logs, 100 differential GPSs, 101 compass, 102 trim meters, 103 bows under water Cabin water tank, 104 after-peak tank water tanks, 105 pipelines, 106 effusion meters, 107 equilibrium water pumps, 108 main ballast tanks, 109 air filters, 110 kingston valves, 111 air compressor machines, 112 breather valve, 113 gas bombs, 114 lithium storage batteries, 115 brshless DC motors, 116 transmissions Axle, 117 propellers, 118 empennages, 119 steering wheels, 120 control circuit plates, 121 direct current generators, 122 train of reduction gears, 123 steering wheels, 124 position feedback potentiometers, 125 output shafts, 126 traction mouths.

In figure: KM₁First relay, KM₂Second relay, KM₃3rd relay, KM₄4th relay, KM₅5th continues Electrical equipment, SQ₁First dynamic tactile chalaza, SA transfer contact, SQ₂Second dynamic tactile chalaza, SQ₃3rd dynamic tactile chalaza, SQ₄4th dynamic touching is closed Point, VT₁First audion, VT₂Second audion, VT₃3rd audion, VT₄4th audion, VT₅5th audion, R₁First Pull-up resistor, R₂Second pull-up resistor, R₃3rd pull-up resistor, R₄4th pull-up resistor, R₅5th pull-up resistor, VD₁One or two Pole pipe, VD₂Second diode, VD₃3rd diode, VD₄4th diode, VD₅5th diode, C₁First Absorption Capacitance, C₂ Second Absorption Capacitance, C₃3rd Absorption Capacitance, R₆First resistance, C₄First electric capacity, R₇Second resistance, C₅Second electric capacity, P₁First Outfan, P₂Second outfan, P₃3rd outfan, P₄4th outfan, P₅5th outfan.

Detailed description of the invention

For a more detailed description to the present invention with instantiation below in conjunction with the accompanying drawings.

With reference to Fig. 1-11, a kind of sea cable synchronizes unwrapping wire submariner device, under water including boat-carrying mechanical system 1, synchronized push system 2, pneumatic emission system 3, calculate central control system 4 and towing and move under water system 5, described synchronized push system 2, pneumatic emission system 3, calculate central control system 4 to be each attached in boat-carrying mechanical system 1, pull system 5 of moving under water and can depart from ship motion.

Described boat-carrying mechanical system 1 is used for synchronized push system 2, pneumatic emission system 3, pulls move under water system 5 and sea cable Transport, and can by sea cable from sea cable storage box 18 draw to synchronized push system 2, it includes barge 6, load-bearing plate 7, bracing frame 8, bearing 9, circular traction frame 10, torque motor 11, reductor 12, transmission band 13, first fix anchor 14, second fix anchor 15, 3rd fixes anchor the 16, the 4th fixes anchor 17, sea cable storage box 18, high speed untwisting machine 19, cable laying machine 20, boat-carrying power supply 21, described Load-bearing plate 7 is put on the left of barge 6, is connected with bracing frame 8, and circular traction frame 10 is hinged with bracing frame 8 by bearing 9, is fixed on Torque motor 11 on barge 6 is positioned at circular traction frame 10 lower left, torque motor 11 by reductor 12 and transmission band 13 with Circular traction frame 10 connects, thus drives circular traction frame 10 to rotate on the vertical plane；Sea cable storage box 18 is positioned at circular traction Frame 10 lower right, first fixes anchor 14, second fixes anchor the 15, the 3rd and fix anchor the 16, the 4th and fix anchor 17 and be suspended on the four of barge 6 Angle Position, carries out auxiliary with canoe during cabling and casts anchor, and for keeping barge 6 position across the sea, high speed untwisting machine 19 is positioned at Between sea cable storage box 18 and cable laying machine 20, it is connected with barge 6 deck by bolt, is used for avoiding because deformation damage sea cable is exhausted Edge, and make sea cable have preferable compliance；Cable laying machine 20 is positioned at the receptor 23 of high speed untwisting machine 19 and synchronized push system 2 Between, it is connected by bolt and barge 6 deck, is used for drawing sea cable to synchronized push system 2, the outlet of sea cable storage box 18, High speed untwisting machine 19, cable laying machine 20, synchronized push system 2 are positioned on same centrage, pass sequentially through sea cable during the cable cabling of sea The outlet of storage box 18, high speed untwisting machine 19, cable laying machine 20, synchronized push system 2, boat-carrying power supply 21 be boat-carrying mechanical system 1, Synchronized push system 2, pneumatic emission system 3, the power source of calculating central control system 4, be placed on the power transformation on the left of barge 6 deck In case.

Boat-carrying power supply 21 has three kinds of voltage interface, is 380V, 220V and 12V respectively；Torque motor 11, high speed untwisting machine 19, cable laying machine 20 all uses 380V voltage, and the 380V interface being connected boat-carrying power supply 21 by cable is powered, and switchs by control Cable processed is connected into central control system, is controlled break-make by calculating central control system 4.

Described synchronized push system 2 pushes sea cable, including chute inlet for coordinating the speed sync pulling system 5 of moving under water 22, receptor 23, servomotor 24, driving chain 25, synchromesh gear 26, driven pulley 27, engagement chain 28, watertight conduit 29, Hydraulic pressure sensor 30, logical line corridor 31, obturator 32, engaging detent 33, chute inlet 22 and the receptor 23 of reception signal Being connected on barge 6 deck, the servomotor 24 being fixed on barge 6 deck is by driving chain 25 with synchromesh gear 26 even Connecing, synchromesh gear 26 is connected with driven pulley 27 by engagement chain 28, and engaging detent 33 is positioned in engagement chain 28, gives and sea cable Grip thus drive sea cable, receptor 23, servomotor 24, driving chain 25, synchromesh gear 26, driven pulley 27, engagement chain 28, engaging detent 33 collectively forms a Synchronizable drive systems, has watertight conduit 29 outside slideway, and watertight conduit 29 top is connected On barge 6 deck, its bottom is connected on the transmitting tube 40 of pneumatic emission system 3, makes whole synchronization slideway in watertight conduit Among 29, preventing sea water from flowing into barge 6, watertight conduit 29 inwall has the poroid logical line corridor 31 of a diameter 8cm, watertight conduit 29 bottoms are hydraulic pressure sensor 30 and obturator 32, and hydraulic pressure sensor 30 is put inside watertight conduit 29, is used for detecting The depth of water, obturator 32 is by stainless-steel sheet 34, hinge 35, electric magnet 36, bumping post 37, closed-loop 38 and elastic rubber ring 39 groups Become, be used for launching towing move under water system 5 time, keep the air-tightness of pneumatic part.Stainless-steel sheet 34 is welded on transmitting tube 40, Hinge 35 is hinged on stainless-steel sheet 34, closed-loop 38 embedding elastic rubber ring 39, end is connected to electric magnet 36, electric magnet 36 Rear side two bumping posts 37 of welding, for preventing hinge 35 subtended angle excessive, hydraulic pressure sensor 30 and obturator 32 are by boat-carrying power supply 21 By cable power supply, the detectable signal of hydraulic pressure sensor 30 is passed to calculating central control system 4 by holding wire, and cable and holding wire are protected Protect in the logical line corridor 31 inside watertight conduit 29.

Described pneumatic emission system 3 is used for launching towing and moves under water system 5, including transmitting tube 40, launches cushion cap 41, pneumatic dress Put 42.Transmitting tube 40 is overlapped on transmitting cushion cap 41, and pneumatic means 42 is positioned at outside transmitting tube 40, structure common with transmitting tube 40 Become a complete gas circuit, be used for providing transmitting required drive, transmitting tube 40 by before, during and after three sections form, each other with convex Edge and bolt connect, including protecgulum 43, bonnet 44, front gas-tight ring 45, middle gas-tight ring 46, rear gas-tight ring 47, upper rail 48, under lead Rail 49, left rail 50, right rail 51, front upper liquid level sensor 52, front lower liquid level sensor 53, go up liquid level sensor afterwards 54, rear lower liquid level sensor 55, under water junction box 56, front gas-tight ring 45, middle gas-tight ring 46, rear gas-tight ring 47 are in order to stop promotion Gas from gap escape, it is ensured that enough thrust, front gas-tight ring 45 by heat cure bonding in the way of be contained in junction, front stage casing, in Gas-tight ring 46 is contained in stage casing gas-tight ring 47 central, rear in the way of heat cure bonding and is contained in posterior segment in the way of heat cure bonding Junction, upper rail 48 is T-slot, it is ensured that towing is moved under water before system 5 leaves guide rail and do not rotated, and lower guideway 49, left side are led Rail 50, the effect of right rail 51 are to reduce resistance, it is ensured that pull system 5 of moving under water and can smoothly leave transmitting tube 40, above lead Rail 48 is positioned at transmitting tube 40 inwall top, and lower guideway 49 is positioned at bottom transmitting tube 40 inwall, left rail 50, right rail 51 points Not being positioned at the transmitting tube 40 inwall left and right sides, upper rail 48, lower guideway 49, left rail 50, right rail 51 all use location It is internal that screw is riveted on transmitting tube 40, and front upper liquid level sensor 52 is put above transmitting tube 40 leading portion, front lower liquid level sensor 53 Putting below transmitting tube 40 leading portion, rear upper liquid level sensor 54 is put above transmitting tube 40 back segment, and rear lower liquid level sensor 55 is put Below transmitting tube 40 back segment, for perception transmitting tube 40 inner inlet, front upper liquid level sensor 52, front lower liquid level sensor 53, rear upper liquid level sensor 54 and rear lower liquid level sensor 55 are both connected on the junction box under water 56 in transmitting tube 40 stage casing, by The 12V interface of boat-carrying power supply 21 is powered, and signal is transferred to calculate central control system 4；Launch cushion cap 41 and be positioned at bottom cabin, for propping up Support fixed transmission pipe 40, including backing plate 57, front fixed steelring 58, rear fixed steelring 59, backing plate 57 is fixed in barge 6 cabin bottom Portion, front fixed steelring 58, rear fixed steelring 59, through backing plate 57, are socketed with transmitting tube 40；Pneumatic means 42 is positioned at transmitting tube 40 Outside, collectively forms a complete gas circuit with transmitting tube 40, is used for providing transmitting required drive.Including front ventilation valve 60, after Ventilation valve 61, impulse flask 62, impulse flask switch valve 63, impulse flask relief valve 64, transmitting valve 65, check valve 66, middle pressure Gas cylinder 67, middle air bottle switch valve 68, middle air bottle relief valve 69, transmitting tube equalizing valve 70, water storage cabin 71, water tank ventilation valve 72, front water injection valve 73, rear water injection valve 74, hydraulic press 75, shackle rod 76；Before front ventilation valve 60 is used for balancing transmitting tube 40 End air pressure, front ventilation valve 60 is used for balancing transmitting tube 40 rear end air pressure, enables water to inject transmitting tube 40 smoothly.Impulse flask 62 There is provided and when launching, promote the power pulling system 5 of moving under water.Impulse flask switch valve 63, for open and close impulse flask 62, is launched Gas cylinder safely valve 64 stops gas leakage when impulse flask switch valve 63 lost efficacy.Launching valve 65 can make gas according to necessarily Speed enters transmitting tube 40, prevents air inlet from too much exceeding the carrying scope of transmitting tube 40.In check valve 66 stops transmitting tube 40 Water enters launches valve 65.The power that the water that middle air bottle 67 provides before launching in promotion water storage cabin 71 moves.Middle air bottle switchs Valve 68 is air bottle 67 in open and close.Middle air bottle relief valve 69 stops gas when middle air bottle switch valve 68 lost efficacy Leakage.Transmitting tube equalizing valve 70 is used for balancing transmitting tube 40 inner and outer air pressure.Water storage cabin 71 is in storing entrance transmitting tube 40 Water.Water tank ventilation valve 72 is for balancing the air pressure in water storage cabin 71.From impulse flask 62, the compressed air of injection, sequentially passes through Impulse flask switch valve 63, impulse flask relief valve 64, transmitting valve 65, check valve 66 arrive transmitting tube 40.Therefrom air bottle 67 The compressed air of middle injection, sequentially passes through middle air bottle switch valve 68, middle air bottle relief valve 69 arrives water storage cabin 71, promotes storage Water in water tank 71 water injection valve 73, rear water injection valve 74 in the past enter transmitting tube 40, front water injection valve 73, rear water injection valve 74 Be in water storage cabin 71 water turnover transmitting tube 40 passage, hydraulic press 75 is arranged on hull emission pipe 40 bottom, shackle rod 76 are hinged on bottom transmitting tube 40, and front end connects transmitting tube 40 protecgulum 43, and rear end connects hydraulic press 75, and during action, hydraulic press 75 can To drive shackle rod 76, transmitting tube 40 protecgulum 43 of leaving behind or slippage, front ventilation valve 60, rear venting valve 61, impulse flask switch Valve 63, impulse flask relief valve 64, middle air bottle switch valve 68, middle air bottle relief valve 69, transmitting tube equalizing valve 70, water tank are logical Air-valve 72, front water injection valve 73, rear water injection valve 74, hydraulic press 75 all obtain electricity by junction box 56 under water from boat-carrying power supply 21 Can, obtain instruction from calculating central control system 4.

Described calculating central control system 4 is positioned on the right side of barge 6, including transceiver 77, computer center 78, weather monitoring Instrument 79, GPS reference station 80, transceiver 77, for receiving position, the sonar information pulled system 5 of moving under water and pass back, passes to meter Suan Ji center 78 processes detection information, determines that seafloor topography, planning lay path and adjust navigation direction etc., then will life Order transceiver 77 is beamed back towing and is moved under water system 5, and weather can be monitored by weather monitoring instrument 79 in real time, GPS reference station 80 receive satellite-signal, monitor GPS error, and as calibration value, the surveyed observation of system 5 of moving under water is pulled in comparison, it is thus achieved that precision is more High positional information, transceiver 77, weather monitoring instrument 79, GPS reference station 80 need before installing first specifying position welding Equipment placement case, then transceiver 77, weather monitoring instrument 79, GPS reference station 80 are put into equipment placement case, use polyurethane Rigid foam bed course is fixed, and computer center 78 is arranged in barge 6 command post, and staff's heart 78 in a computer is supervised Depending on and control the properly functioning of whole system, computer center 78, transceiver 77, weather monitoring instrument 79, GPS reference station 80 The 220V interface of boat-carrying power supply 21 is all used to be powered.

Described towing move under water system 5 be divided into before in latter three sections, including resistance to compression protection shell 81, sweep sea detection device 82, nothing Line transmitting device 83, presetting apparatus 84, navigation information device 85, fore-and-aft balance device 86, buoyancy adjustment device 87, propelling Transfer 88；Resistance to compression protection shell 81 can be protected and sweep sea detection device 82, radio transmitting device 83, presetting apparatus 84, navigation information device 85, fore-and-aft balance device 86, buoyancy adjustment device 87, advancing steering device 88.Radio transmitting device 83 Rely on holding wire to obtain interior instrument information, then pass to calculate central control system 4 by wireless mode, calculate central control system 4 Order pass radio transmitting device 83 back with wireless form, radio transmitting device 83 by holding wire pass to programme-control fill Put 84.Presetting apparatus 84 is directly connected to by cablet and is controlled navigation information device 85, fore-and-aft balance device 86, buoyancy are adjusted Engagement positions 87, advancing steering device 88.Presetting apparatus 84 carries 12V instrument power supply 98, is supplied to measuring instrument by cable Electricity.Advancing steering device 88 carries 220V power supply, is powered to high power motor by cable.

Resistance to compression protection shell 81 leading portion uses fairshaped kuppe to be coated with underwater sound equipment, for improving underwater sound equipment Sound translative performance, reduces resistance, and other part rustless steels make.Top layout conductor 89, rear guide 90, be used for snapping in and lead Rail 48.Due to items of equipment to be carried, needing to carry out draw-in groove division previously according to instrument size, instrument embeds in draw-in groove, draws Holding wire and Thin cable are used for transmitting signal and providing power supply.

Sweep sea detection device 82 for finding out submarine obstacle, to calculate central control system 4 transmit submarine geomorphy information.Including Forward-Looking Sonar 91, side scan sonar 92, sonic-sounding gear 93, sea magetometer 94.The structure of sonar includes signal generator, amplification Device, transducer array, matched filtering device, scan converter.Transducer array of the present invention is respectively provided with transceiver Function.The multiple waveforms that signal generator can pre-set, to adapt to different tasks and environmental requirement, then through putting Big device group connects transducer array, is launched by detection information, uses matched filtering device and scanning after receiving the signal of return After changer Combined Treatment, pass to wireless transmitting system by holding wire, and then pass to calculating central control system 4 and be shown to work people Member.Transducer array used by Forward-Looking Sonar 91 is positioned at towing and moves under water system 5 top, signal generator used, amplifier, coupling Wave filter, scan converter are positioned at towing and move under water above system 5 leading portion, are used for detecting towing and move under water system 5 front.Side scan sonar 92 are used for detecting towing moves under water below system 5, and signal generator used, amplifier, matched filtering device, scan converter are positioned at Pull immediately below on front side of system 5 of moving under water.Sonic-sounding gear 93 pulls, for measuring, the system 5 distance to seabed of moving under water, used Signal generator, amplifier, matched filtering device, scan converter are positioned at side scan sonar 92 rear.Forward-Looking Sonar 91, side scan sonar 92, the transducer array that sonic-sounding gear 93 uses is placed in towing and moves under water bottom system 5.Sea magetometer 94 is used for detecting sea The obstacles such as end magnetic anomaly, finds shipwreck in time, disconnected anchor.The signal processing region of sea magetometer 94 is positioned on echo depth sounder Side, probe positions is in bottom transducer array central authorities.

Radio transmitting device 83 is believed for sweeping Hisense's breath, navigation information and the towing system 5 internal sensor gained that moves under water Breath passes to calculating central control system 4, and the order that calculating central control system 4 is assigned is passed to presetting apparatus 84.It is wirelessly transferred dress Put 83 to be positioned at towing and move under water on rear side of system 5 leading portion.

Presetting apparatus 84 includes single-chip microcomputer 95, clock circuit 96, under water patch panel 97, instrument power supply 98.Used by instrument Power supply 98 utilize shielded cable pass through under water patch panel 97 navigation massaging device 85, sweep sea detection device 82, be wirelessly transferred dress Put 83 and presetting apparatus 84 power, utilize holding wire transmit signal.Single-chip microcomputer 95 first sets the concrete journey of various operation Sequence, when receive calculate the order that sends of central control system 4 and towing move under water system 5 detection information after, take out from bin Corresponding program, exports significant level successively on its each outfan, after amplifying drive amplification, controls electronic mechanical, electrical Magnet valves etc. produce corresponding action, thus realize whole towing and move under water the automatization of system 5.

Navigation information device 85 is positioned on front side of leading portion, including Doppler sonar log 99, differential GPS 100, compass 101, Trim meter 102.Doppler sonar log 99 can measure the speed relative to seabed, is passed in real time by radio transmitting device 83 To the servomotor 24 of synchronized push system 2, it is achieved synchronous operation.Doppler sonar log 99 also is able to coordinate compass 101 The course angle measured, utilizes dead reckoning to obtain the position pulling system 5 of moving under water.Transducing used by Doppler sonar log 99 Device basic matrix is positioned at towing and moves under water system 5 top, and signal generator used, amplifier, matched filtering device, scan converter are positioned at Towing is moved under water on the upside of system 5 leading portion.Differential GPS 100 is positioned oneself after being mainly used in calibrating course line and arriving at, convenient Find, too increase reliability and the accuracy pulling system 5 of moving under water, be positioned at Doppler sonar log 99 front.Compass 101 For providing directional reference, it is positioned at single-chip microcomputer 95 front.Trim meter 102 is used for measuring self trim situation, is positioned at instrument power supply Below 98.Differential GPS 100, compass 101, trim meter 102 are all that finished product is directly positioned on towing and moves under water on system 5 instrument draw-in groove, Powered by instrument power supply 98, it is thus achieved that signal by radio transmitting device 83 pass to calculating central control system 4.

Fore-and-aft balance device 86 is used for adjusting towing and moves under water system 5 trim, including bow compartment water tank 103, after-peak tank water tank 104, Pipeline 105, effusion meter 106, equilibrium water pump 107.Pull and be loaded with bow compartment water tank 103 on front side of system 5 stage casing of moving under water, carry on rear side of stage casing Having after-peak tank water tank 104, at ordinary times equipped with a certain amount of water, bow compartment water tank 103 is connected by pipeline 105 with after-peak tank water tank 104, pipeline 105 interfaces are by equalizing the outlet pass of water pump 107, and equilibrium water pump 107 transfers transfer bow compartment water tank 103 and after-peak tank water by positive and negative Water in cabin 104.

Buoyancy adjustment device 87 is positioned at towing and moves under water system 5 stage casing, be used for guaranteeing towing move under water system 5 properly functioning time weight Power is equal with buoyancy, and can float up to the water surface when completing task.Buoyancy adjustment device 87 includes main ballast tank 108, sky Air filter 109, kingston valve 110, air compressor machine 111, breather valve 112, gas bomb 113.Main ballast tank 108 is positioned at towing and moves under water System 5 position of centre of gravity.Kingston valve 110 is sea water access way, is positioned at below main ballast tank 108, connects main ballast tank 108 And external environment condition.Air filter 109 stops sea water to enter air compressor machine 111, is located at above main ballast tank 108, connects pneumatics Machine 111 and main ballast tank 108.Gas bomb 113, for air storage, is connected with air compressor machine 111.Breather valve 112 will be for storing up Compressed air in gas cylinder 113 discharges, connection main ballast tank 108 and gas bomb 113.Air compressor machine 111, breather valve 112, Air capacity in gas bomb 113 co-controlling main ballast tank 108, and then control the inflow in main ballast tank 108.Maritime Valve 110, breather valve 112 are powered by instrument power supply 98, and air compressor machine 111 is powered by the lithium storage battery 114 of advancing steering device 88.Logical Sea valve 110, air compressor machine 111, the most programmed device of breather valve 112 84 control.

Towing system 5 back segment that moves under water is mainly advancing steering device 88, is used for providing towing to move under water system 5 power controlling Pull system 5 direction of moving under water.Including lithium storage battery 114, brshless DC motor 115, power transmission shaft 116, propeller 117, empennage 118, steering wheel 119, traction mouth 126.Lithium storage battery 114 is positioned on rear side of main ballast tank 108, for advancing steering device 88 and pneumatics Machine 111 is powered.Brshless DC motor 115 is positioned at lithium storage battery 114 rear.Brshless DC motor 115 is by power transmission shaft 116 and spiral shell Rotation oar 117 is connected.Empennage 118 uses cross rudder structure, thus it is possible to vary trim, the degree of depth and direction.Steering wheel 119 is by control circuit plate 120, direct current generator 121, train of reduction gears 122, steering wheel 123, position feedback potentiometer 124, output shaft 125 form, and are used for controlling Empennage 118 processed action.Control circuit plate 120 receives the control signal from presetting apparatus 84 by holding wire, controls straight Stream motor 121 rotates, and direct current generator 121 drives train of reduction gears 122, drives to export steering wheel 123 after deceleration.Steering wheel 119 Output shaft 125 and position feedback potentiometer 124 are connected to, and while steering wheel 123 rotates, drive position feedback potentiometer 124, Position feedback potentiometer 124 will export a voltage signal to control circuit plate 120, feed back, then control circuit plate 120 Direction and the speed of direct current generator 121 rotation is determined, until arriving target location according to voltage signal.Traction mouth 126 is positioned at and drags Drag the system of moving under water 5 end, be used for connecting cable connector.

The circuit of presetting apparatus 84 includes: the first relay K M₁, the first diode VD₁, the 5th audion VT₅With One pull-up resistor R₁The first outfan P with single-chip microcomputer 95₁Connect；Second relay K M₂, the second diode VD₂, the four or three pole Pipe VT₄With the second pull-up resistor R₂The second outfan P with single-chip microcomputer 95₂Connect；3rd relay K M₃, the 3rd diode VD₃、 3rd audion VT₃With the 3rd pull-up resistor R₃The 3rd outfan P with single-chip microcomputer 95₃Connect；4th relay K M₄, the four or two Pole pipe VD₄, the second audion VT₂With the 4th pull-up resistor R₄The 4th outfan P with single-chip microcomputer 95₄Connect；5th relay KM₅, the 5th diode VD₅, the first audion VT₁With the 5th pull-up resistor R₅The 5th outfan P with single-chip microcomputer 95₅Connect；The One relay K M₁First dynamic touch chalaza SQ₁Control equilibrium water pump 107 to rotate forward；Second relay K M₂Transfer contact SA control Equilibrium water pump 107 inverts；3rd relay K M₃Second dynamic touch chalaza SQ₂Control kingston valve 110；4th relay K M₄? Three dynamic tactile chalaza SQ₃Control breather valve 112；5th relay K M₅The 4th dynamic touch chalaza SQ₄Control air compressor machine 111.

The work process of the present invention is: transport to specify position by sea cable and equipment by boat-carrying mechanical system, uses sea cable Paying off system utilize air pressure towing is moved under water system injection, synchronized push system drive sea cable synchronous operation, calculate central control system Monitor and plan the advance route pulling system of moving under water, until it reaches destination, completing sea cable handing-over.

1. with reference to Fig. 1-2, first barge 6 is driveed to bank, by sea cable colligation on circular traction frame 10, start moment electricity Machine, drives circular traction frame 10 to rotate, and traction sea cable introduces on ship, then releases sea cable colligation, and auxiliary sea cable enters sea cable and deposits Case 18.Then barge 6 is driveed to destination, fore is directed at the direction of lay, utilize canoe to put down first and fix anchor 14, second admittedly Determine anchor the 15, the 3rd to fix anchor the 16, the 4th and fix anchor 17.

2. with reference to Fig. 6, Fig. 7 and Fig. 9, first check and launch cushion cap 41, it is ensured that backing plate 57 consolidates, front fixed steelring 58, solid afterwards Determining steel ring 59 non-corroding, front lower liquid level sensor 53, rear lower liquid level sensor 55 are not detected by hydraulic pressure, and then confirm nothing in pipe Water, protecgulum 43 is closed intact.Opening bonnet 44, system of towing being moved under water 5 pushes transmitting tube 40, note by its conductor 89, after Guide 90 is stuck in upper rail 48.

3., with reference to Fig. 1-4, Fig. 8 and Fig. 9, open chute inlet 22, sea cable joint is carried out water-proofing treatment, and puts traction Accessory, slowly passes through high speed untwisting machine 19, cable laying machine 20 by sea cable with the speed of 5m per minute, enters chute inlet 22, start Servomotor 24.Servomotor 24 drives synchromesh gear 26, driven pulley 27 by driving chain 25, utilizes in engagement chain 28 Engaging detent 33 holds sea cable, makes sea cable through synchronized push system 2 to transmitting tube 40, notes entering transmitting tube 40 too much In order to avoid causing sea cable to be damaged by torsion.Traction mouth 126 is connected firmly with sea cable joint, closes bonnet 44.Obturator 32 is energized, Electric magnet 36 adhesive, closed-loop 38 is held sea cable and is blocked gap, makes transmitting tube 40 form confined space.

4. with reference to Fig. 5-6, before transmitting, impulse flask 62 being first inflated to 25MPa, middle air bottle 67 is inflated to 8MPa and treats Life.Then open front ventilation valve 60, rear venting valve 61, front water injection valve 73, rear water injection valve 74, close water tank ventilation valve 72. Open the compressed air in air bottle 67 in middle air bottle relief valve 69, the release of middle air bottle switch valve 68 again, force in water tank Water entered in the gap of transmitting tube 40 by front water injection valve 73, rear water injection valve 74, before water level arrives, go up level sensing Time on device 52, rear upper liquid level sensor 54, air bottle relief valve 69 in closedown, middle air bottle switch valve 68, front water injection valve 73, Rear water injection valve 74, front ventilation valve 60, rear venting valve 61.Now transmitting tube 40 has been filled with sea water, opens transmitting tube equalizing valve 70, Make transmitting tube 40 internal pressure equal to surrounding seawater pressure, in order to open protecgulum 43.All after pressure, start hydraulic press 75, logical Cross shackle rod 76 to leave behind protecgulum 43.During transmitting, open impulse flask relief valve 64, impulse flask switch valve 63, pressure-air It is mapped to check valve 66, when air effect pressure in check valve 66 exists more than seawater eroding by the emitted valve of impulse flask 62 65 During power on check valve 66, check valve 66 is opened, and air enters transmitting tube 40, thus promotes towing system 5 of moving under water to go out transmitting Pipe 40, simultaneously obturator 32 dead electricity, it is allowed to sea cable is descending.

5. with reference to Fig. 9 and Figure 11, pull system 5 of moving under water and go out transmitting tube 40 moment, pull system 5 of moving under water and start.Instrument is used Power supply 98 start for navigation information device 85, sweep sea detection device 82, radio transmitting device 83 and presetting apparatus 84 are powered. Lithium storage battery 114 starts, and drives brshless DC motor 115, drives propeller 117 by power transmission shaft 116, it is thus achieved that from main thrust, Power for air compressor machine 111, it is thus achieved that the ability of Buoyance adjustment simultaneously.Fore-and-aft balance device 86 works, and carries out trim regulating.Buoyancy is adjusted Engagement positions 87 works, and carries out buoyancy adjustment.

6., with reference to Fig. 1-3, Fig. 9 and Figure 11, navigation information device 85 works, and compass 101 coordinates Doppler sonar log The information of 99, passes calculating central control system 4 back by radio transmitting device 83, obtains towing move under water the accurate position of system 5 through calculating Put.System of towing being moved under water 5 velocity information can pass to receptor 23 in real time, and receptor 23 controls servomotor 24 run-in synchronism. Sweeping sea detection device 82 to work, Forward-Looking Sonar 91, side scan sonar 92, sea magetometer 94, sonic-sounding gear 93 start detection, look into Bright submarine obstacle and own location information, and will be directly transmitted in calculating by radio transmitting device 83 after detectable signal process Ore-controlling Role 4, is responsible for landforms synthesis and flight course planning by calculating central control system 4, it is to avoid presetting apparatus 84 processes information and makes Become burden.Calculate after central control system 4 completes landforms synthesis and route planning, then pass towing back and move under water system 5, programme-control fill Put 84 reception orders and control the steering wheel 119 of advancing steering device 88, it is ensured that by route running.

7. with reference to Fig. 8 and Figure 10, fore-and-aft balance device 86 work process: the trim meter 102 of navigation information device 85 passes through Measured signal is passed back calculating central control system 4 by radio transmitting device 83, makes calculating central control system 4 can grasp trim feelings at any time Condition, and adjust order and pass to presetting apparatus 84.If towing is moved under water, system 5 produces and leans forward, and presetting apparatus 84 is by bow After-peak tank water tank 104 is transferred to by the water equilibrium water pump 107 of cabin water tank 103.If towing is moved under water, system 5 produces hypsokinesis, programme-control The water of after-peak tank water tank 104 is equalized water pump 107 and is transferred to bow compartment water tank 103 by device 84.Control water is accurately monitored with effusion meter 106 Calling of amount, adjusts until completing trim.

8., with reference to Fig. 9, buoyancy adjustment device 87 work process: kingston valve 110 is opened, sea water enters main ballast tank 108. The sonic-sounding gear 93 of navigation information device 85 records real-time deep and passes calculating central control system 4 back by radio transmitting device 83, Make calculating central control system 4 obtain vertical acceleration, and adjust order and pass to presetting apparatus 84., presetting apparatus 84 is straight Connecing air compressor machine 111 and the breather valve 112 controlling buoyancy adjustment device 87, when buoyancy is more than gravity, air compressor machine 111 works, by sky Air pressure is reduced among gas bomb 113, and sea water enters main ballast tank 108 to strengthen gravity.When buoyancy is less than gravity, breather valve 112 open, and release air discharge sea water is to strengthen buoyancy, until completing buoyancy adjustment.

9., with reference to Figure 10, the presetting apparatus circuit of the present invention includes: the first relay K M₁, the second relay K M₂, Three relay K M₃, the 4th relay K M₄, the 5th relay K M₅, first dynamic touch chalaza SQ₁, transfer contact SA, the second dynamic touching close Point SQ₂, the 3rd dynamic touch chalaza SQ₃, the 4th dynamic touch chalaza SQ₄, the first audion VT₁, the second audion VT₂, the 3rd audion VT₃, the 4th audion VT₄, the 5th audion VT₅, the first pull-up resistor R₁, the second pull-up resistor R₂, the 3rd pull-up resistor R₃, Four pull-up resistor R₄, the 5th pull-up resistor R₅, the first diode VD₁, the second diode VD₂, the 3rd diode VD₃, the four or two pole Pipe VD₄, the 5th diode VD₅, the first Absorption Capacitance C₁, the second Absorption Capacitance C₂, the 3rd Absorption Capacitance C₃, the first resistance R₆, One electric capacity C₄, the second resistance R₇, the second electric capacity C₅, the first outfan P₁, the second outfan P₂, the 3rd outfan P₃, the 4th output End P₄, the 5th outfan P₅, single-chip microcomputer 95.First relay K M₁First dynamic touch chalaza SQ₁Control equilibrium water pump 107 to rotate forward； Second relay K M₂Transfer contact SA control equilibrium water pump 107 invert；3rd relay K M₃Second dynamic touch chalaza SQ₂Control Kingston valve 110 processed；4th relay K M₄The 3rd dynamic touch chalaza SQ₃Control breather valve 112；5th relay K M₅The 4th move Touch chalaza SQ₄Control air compressor machine 111.Control signal is respectively by the first outfan P of single-chip microcomputer 95₁, the second outfan P₂, the 3rd Outfan P₃, the 4th outfan P₄, the 5th outfan P₅Output.As the 5th outfan P₅During for high level, the first audion VT₁Full With, the 5th relay K M₅Adhesive, moving together contact SA closes, and equilibrium water pump 107 rotates forward.As the 4th outfan P₄, the 5th outfan P₅When being low level, the first audion VT₁, the second audion VT₂It is turned off, the first dynamic tactile chalaza SQ₁, dynamic touch at chalaza SA In release conditions, equilibrium water pump 107 must not electricity and stop.4th outfan P₄During output high level, the second audion VT₂Conducting, Dynamic tactile chalaza SA adhesive, makes equilibrium water pump 107 antiport.In circuit, touch chalaza SQ with transfer contact SA and first is dynamic₁Realize Interlocking, it is ensured that two terminals of rotating of equilibrium water pump 107 will not be also turned on power supply.Moving together contact SQ₂Control kingston valve 110 switches, moving together contact SQ₃Control breather valve 112, moving together contact SQ₄Control air compressor machine 111 principle identical with this.With in circuit One relay K M₁First diode VD in parallel₁, and the second relay K M₂Second diode VD in parallel₂, and the 3rd relay KM₃3rd diode VD in parallel₃, and the 4th relay K M₄4th diode VD in parallel₄, and the 5th relay K M₅In parallel 5th diode VD₅, respectively protection the 5th audion VT₅, the 4th audion VT₄, the 3rd audion VT₃, the second audion VT₂、 First audion VT₁, prevent the self induction electromotive force in relay coil from being punctured by transistor.With contact SQ₁, RC electricity in parallel for SA Road can eliminate the spark during conversion of contact.First Absorption Capacitance C₁, the second Absorption Capacitance C₂, the 3rd Absorption Capacitance C₃, protect respectively Protecting kingston valve 110, breather valve 112, air compressor machine 111, absorption produces in solenoid due to contact conversion, current break Instantaneous pressure.

10. with reference to Fig. 9, when completing task, breather valve 112 discharges the stored up air of gas bomb 113 in a large number, is blown out by sea water Main ballast tank 108, pulls system 5 floating upward quickly that moves under water, until it reaches sea, closes kingston valve 110, uses differential GPS 100 Position, guide neighbouring ship to scoop out, complete handing-over or device reclaims.

Device therefor of the present invention and instrument and components and parts etc. are commercially available prod, easily implement.The barge of specific embodiment Gross tonnage (ton): 20282, overall length (rice): 16, molded breadth (rice): 23, moldeed depth (rice): 12.2, full-load draft (rice): 8.9, cargo hold Number: 4, hatchcover: hydraulic pressure, main frame model: 8PC 320；Torque motor: YLJ112-6/4；Anchorage: model XYM15 (13)-1, number Amount 4；Liquid level sensor: HM21 throw-in type liquid transmitter；Upper rail: a positive groove, steel 7700mm × 24mm × 24mm；Servo Motor: model SGM7J-01AFC6E, Japan produces；High speed untwisting machine: the 500 vertical untwisting machines of dish, overall dimensions: 2120mm × VT₅0mm×2200mm；Transmitting cushion cap: wooden 6500mm × 500mm × 500mm, has corrosion-inhibiting coating；Electric magnet: model XDA- 100/40；Cable laying machine: liner cable laying machine overall dimensions: 3250mm × 500mm × 1200mm；Transmitting tube: rustless steel makes, in Back segment thickness 5mm, leading portion thickness 7mm, length 8000mm, internal diameter 570mm, gas-tight ring internal diameter 536mm；Impulse flask: CNG, volume 72L；Gas bomb: DPL, volume 30L；Towing is moved under water system: length 5112mm, external diameter 536mm；Side rails: discontinuous rectangular Shape copper billet forms, and totally 30 pieces, every side is in line according to the gap arrangement of 10mm between adjacent two pieces；Lower guideway a: 7700mm × 24mm × 24mm rectangle copper bar composition；Ventilation valve: CARX composite exhaust valve；Hydraulic press: YL41--40 ton openside hydraulic Machine；Forward-Looking Sonar: BlueView P450-45；Side scan sonar: YELLOWFIN side-scan sonar；Weather monitoring instrument: CA-1102 gas As warning receiver；Echo depth sounder: Bathy-500DF；Differential GPS: VeCtoR V103；Trim meter: TCM3；Doppler's sound Log: DS90；Wireless communication apparatus: AD9361；Single-chip microcomputer: 80C51；Equilibrium water pump: FJZ type；Air filter: C/T/ A-001；Air compressor machine: SA-300A；Lithium storage battery: 8542123；Regulated power supply: WYJ-2A30V；Effusion meter: LZB-4WB.

Present disclosure has been made detailed explanation by only certain embodiments of the present invention, but does not limit to the present embodiment, Any obvious change that those skilled in the art are done according to the enlightenment of the present invention, broadly falls into rights protection of the present invention Scope.

Claims

1. extra large cable synchronizes a unwrapping wire submariner device under water, it is characterized in that: it includes boat-carrying mechanical system, synchronized push system, gas Dynamic emission system, calculate central control system and towing is moved under water system, described synchronized push system, pneumatic emission system, calculate Ore-controlling Role is each attached in boat-carrying mechanical system, and the towing system of moving under water can depart from the barge motion of boat-carrying mechanical system；Described Boat-carrying mechanical system is used for synchronized push system, pneumatic emission system, pulls system of moving under water and the transport of sea cable, and can be by sea cable From sea, cable storage box draws to synchronized push system；Described synchronized push system pulls the speed sync of system of moving under water for coordinating Push sea cable；Described pneumatic emission system is used for launching towing and moves under water system；The transceiver of described calculating central control system is used In receiving position, the sonar information that the towing system of moving under water is passed back, pass to computer center and process detection information, determine sea-floor relief Landforms, planning lay path and adjust navigation direction, then order transceiver is beamed back towing move under water system, meteorological prison Surveying instrument to monitor weather in real time, GPS reference station receives satellite-signal, monitors GPS error, as calibration value, for comparison Pull the surveyed observation of system of moving under water；Described towing move under water system resistance to compression protection shell can protect sweep sea detection device, nothing Line transmitting device, presetting apparatus, navigation information device, fore-and-aft balance device, buoyancy adjustment device and advancing steering device, Radio transmitting device relies on holding wire to obtain interior instrument information, then passes to calculate central control system, meter by wireless mode The order calculating central control system passes radio transmitting device back with wireless form, and radio transmitting device passes to program by holding wire Control device.Presetting apparatus connects and controls navigation information device, fore-and-aft balance device, buoyancy adjustment device and propelling and turns To device.

2. require that the extra large cable described in 1 synchronizes unwrapping wire submariner device under water according to claim, it is characterized in that: described boat-carrying mechanical system Including barge, load-bearing plate, bracing frame, bearing, circular traction frame, torque motor, reductor, transmission band, first fix anchor, second Fixing anchor, the 3rd fix anchor, the 4th fix anchor, sea cable storage box, high speed untwisting machine, cable laying machine and boat-carrying power supply, described load-bearing Dish is put on the left of barge, is connected with bracing frame, and circular traction frame is hinged with bracing frame by bearing, the moment being fixed on barge Motor is positioned at circular traction frame lower left, and torque motor is connected with circular traction frame by reductor and transmission band, and sea cable is deposited Case is positioned at circular traction frame lower right, first fixes anchor, second fixes anchor, the 3rd fixes anchor, the 4th fixes anchor and be suspended on barge Corner location, high speed untwisting machine, between sea cable storage box and cable laying machine, is connected by bolt and barge deck, cable laying machine Between the receptor of high speed untwisting machine and synchronized push system, it is connected with barge deck by bolt, sea cable storage box Outlet, high speed untwisting machine, cable laying machine, synchronized push system are positioned on same centrage, and boat-carrying power supply is put left on barge deck In the power transformation box of side.

3. require that the extra large cable described in 1 synchronizes unwrapping wire submariner device under water according to claim, it is characterized in that: described synchronized push system Including chute inlet, receptor, servomotor, driving chain, synchromesh gear, driven pulley, engagement chain, watertight conduit, hydraulic pressure Sensor, obturator and engaging detent, the receptor of chute inlet and reception signal is connected on barge deck, is fixed on and refutes Servomotor on boat deck is connected with synchromesh gear by driving chain, and synchromesh gear is by engagement chain with driven pulley even Connecing, engaging detent is positioned in engagement chain, and the top of the watertight conduit arranged outside slideway is connected on barge deck, its bottom Being connected on the transmitting tube of pneumatic emission system, hydraulic pressure sensor is put inside watertight conduit, and obturator includes rustless steel steel Plate, hinge, electric magnet, bumping post, closed-loop and elastic rubber ring, stainless-steel sheet is connected on transmitting tube, and hinge is hinged on not Rust steel steel plate on, closed-loop embedding elastic rubber ring, end connect electric magnet, on rear side of electric magnet with two bumping posts be connected.

4. require that the extra large cable described in 1 synchronizes unwrapping wire submariner device under water according to claim, it is characterized in that: described pneumatic emission system Including transmitting tube, launch cushion cap and pneumatic means；Transmitting tube is overlapped on transmitting cushion cap, and pneumatic means is positioned at outside transmitting tube Side, transmitting tube by before, during and after three sections form, connect with flange and bolt each other, including protecgulum, bonnet 44, front airtight Ring, middle gas-tight ring, rear gas-tight ring, upper rail, lower guideway, left rail, right rail, front upper liquid level sensor, front lower liquid level Sensor, go up liquid level sensor, rear lower liquid level sensor and junction box under water afterwards, front gas-tight ring be fixed on transmitting tube leading portion with in Section junction, middle gas-tight ring is fixed on the central authorities in transmitting tube stage casing, and rear gas-tight ring is fixed on transmitting tube stage casing and back segment junction, Upper rail is T-slot, and upper rail is positioned at transmitting tube inwall top, and lower guideway is positioned at bottom transmitting tube inwall, left rail, right side Guide rail lays respectively at transmitting tube inwall arranged on left and right sides, and upper rail, lower guideway, left rail, right rail all pass through set screw Being fixed on inside transmitting tube, front upper liquid level sensor is put above transmitting tube leading portion, and front lower liquid level sensor is put before transmitting tube Below Duan, rear upper liquid level sensor is put above transmitting tube back segment, and rear lower liquid level sensor is put below transmitting tube back segment, front on Liquid level sensor, front lower liquid level sensor, rear upper liquid level sensor and rear lower liquid level sensor are both connected to launch the water in stage casing On lower junction box, launching cushion cap and be positioned at bottom cabin, including backing plate, front fixed steelring, rear fixed steelring, backing plate is fixed in barge Bottom cabin, front fixed steelring, rear fixed steelring are socketed through backing plate with transmitting tube；Pneumatic means is positioned at outside transmitting tube, bag Include front ventilation valve, rear venting valve, impulse flask, impulse flask switch valve, impulse flask relief valve, launch valve, check valve, middle pressure Gas cylinder, middle air bottle switch valve, middle air bottle relief valve, transmitting tube equalizing valve, water storage cabin, water tank ventilation valve, front water injection valve, Rear water injection valve, hydraulic press and shackle rod；Impulse flask successively with impulse flask switch valve, impulse flask relief valve, transmitting Valve, check valve connect with transmitting tube gas circuit；Middle air bottle is connected to storage successively with middle air bottle switch valve, middle air bottle relief valve Water tank, water storage cabin is connected with transmitting tube water route by front water injection valve, rear water injection valve, and hydraulic press is fixed on hull emission pipe Bottom, shackle rod is hinged on bottom transmitting tube, and front end connects transmitting tube protecgulum, and rear end connects hydraulic press.

5. require that the extra large cable described in 1 synchronizes unwrapping wire submariner device under water according to claim, it is characterized in that: described calculating central control system It is positioned on the right side of barge, including transceiver, computer center, weather monitoring instrument and GPS reference station, transceiver, meteorology Monitor, GPS reference station put into equipment placement case, and computer center is arranged in barge command post.

6. require that the extra large cable described in 1 synchronizes unwrapping wire submariner device under water according to claim, it is characterized in that: described towing is moved under water system Before, during and after being divided into three sections, including resistance to compression protection shell, sweep sea detection device, radio transmitting device, presetting apparatus, navigation Massaging device, fore-and-aft balance device, buoyancy adjustment device and advancing steering device；Resistance to compression protection cover top portion layout conductor, Rear guide, is used for snapping in upper rail, sweeps sea detection device and includes Forward-Looking Sonar, side scan sonar, sonic-sounding gear, marine magnetism Instrument, the transducer array of Forward-Looking Sonar is positioned at towing and moves under water system head, the signal generator of Forward-Looking Sonar, amplifier, coupling Wave filter, scan converter are positioned at towing and move under water above system leading portion, and the signal generator of side scan sonar, amplifier, coupling are filtered Ripple device, scan converter are positioned at towing and move under water immediately below on front side of system, the signal generator of sonic-sounding gear, amplifier, coupling Wave filter, scan converter are positioned at side scan sonar rear, Forward-Looking Sonar, side scan sonar, sonic-sounding gear transducer array equal Being placed in towing to move under water system bottom, the signal processing region of sea magetometer is positioned at above echo depth sounder, and probe positions is the end of at Transducer array central authorities of portion.

7. require that the extra large cable described in 6 synchronizes unwrapping wire submariner device under water according to claim, it is characterized in that: described radio transmitting device For Hisense's breath will be swept, navigation information and towing system inside sensors gained information of moving under water pass to calculating central control system, and will Calculating the order assigned of central control system and pass to presetting apparatus, radio transmitting device is positioned at towing and moves under water on rear side of system leading portion； Described presetting apparatus includes that single-chip microcomputer, clock circuit 96, under water patch panel are connected with instrument power supply.

8. require that the extra large cable described in 6 synchronizes unwrapping wire submariner device under water according to claim, it is characterized in that: described navigation information device It is positioned on front side of leading portion, including Doppler sonar log, differential GPS, compass and trim meter, Doppler sonar log 99, poor GPS, compass and trim meter is divided all to put and move under water on system instrument draw-in groove in towing.

9. require that the extra large cable described in 6 synchronizes unwrapping wire submariner device under water according to claim, it is characterized in that: described fore-and-aft balance device Including bow compartment water tank, after-peak tank water tank, pipeline, effusion meter and equilibrium water pump, bow compartment water tank is connected by pipeline with after-peak tank water tank, pipe Pipeline joint is by equalizing the outlet pass of water pump, and equilibrium water pump is by the positive and negative water transferring and transferring in bow compartment water tank and after-peak tank water tank.

10. require that the extra large cable described in 6 synchronizes unwrapping wire submariner device under water according to claim, it is characterized in that: described Buoyance adjustment fills Moving under water system stage casing setting in towing, buoyancy adjustment device includes main ballast tank, air filter, kingston valve, air compressor machine, logical Air valve and gas bomb.