CN108570990A - Shallow water ocean bottom cable stone accurately fills device and method - Google Patents
Shallow water ocean bottom cable stone accurately fills device and method Download PDFInfo
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- CN108570990A CN108570990A CN201810396394.5A CN201810396394A CN108570990A CN 108570990 A CN108570990 A CN 108570990A CN 201810396394 A CN201810396394 A CN 201810396394A CN 108570990 A CN108570990 A CN 108570990A
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- Prior art keywords
- jackstone
- pipe
- stone
- shallow water
- ocean bottom
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02D—FOUNDATIONS; EXCAVATIONS; EMBANKMENTS; UNDERGROUND OR UNDERWATER STRUCTURES
- E02D15/00—Handling building or like materials for hydraulic engineering or foundations
- E02D15/10—Placing gravel or light material under water inasmuch as not provided for elsewhere
Abstract
The present invention provides a kind of shallow water ocean bottom cable stones accurately to fill equipment, including is mounted with the stone dumper of building stones, which is characterized in that further includes：Dynamic positioning system；N sections can end to end and dismountable jackstone pipe；Pipe end accurate positioning device；Jackstone device.There is provided a kind of accurate burying methods of shallow water ocean bottom cable stone for another technical solution of the present invention.The present invention is suitable for carrying out landfill protection to ocean bottom cable in shallow water area jackstone.Jackstone position is moderately adjusted using the pipe end accurate positioning device below flexible jackstone pipe and jackstone pipe, compensation is insufficient due to precision caused by hull dynamic positioning itself, and flow is controlled by the flow controller of jackstone device itself, to reach being precisely controlled for jackstone precision and dynamics.To improve the efficiency of jackstone landfill.
Description
Technical field
The present invention relates to a kind of shallow water ocean bottom cable stones accurately to fill equipment and shallow water seabed based on above equipment
The accurate burying method of cable stone.
Background technology
Ocean bottom cable is laid with complete after, since seabed is rough and uneven in surface, geological conditions is uneven, laying effect is unstable etc.
Reason, ocean bottom cable can be exposed on sea bed in regional area.To avoid ocean current from washing away or ship grasp band, generally use jackstone
The method of landfill is protected.This method relative efficiency and economy.
It has been widely used in marine oil and gas engineering for the jackstone technology of ocean bottom cable landfill.Traditional throwing
Stone land-fill method includes with Types Below：
1) the lateral formula riprap work that topples：Multiple formula building stones cabins of toppling are set on freighter.It will by hydraulic device when operation
Building stones cabin is laterally toppled, and stone is pushed into marine.
2) boat-carrying excavator riprap work：Excavator is carried by freighter.It is with scraper bowl that building stones are marine by shovel feeding when operation.
3) jackstone pipe riprap work is laterallyd secure：By the stone dumper specially built or converted, topside setting is fixed
Jackstone pipe.Building stones are sent to jackstone pipe progress side by funnel, flow controller, conveyer belt etc. and throw.
Above-mentioned three kinds traditional riprap works, common feature is that precision is relatively low.Even if some ships configure dynamic positioning
System, but it controls the demand that the ability of hull holding position is still insufficient for jackstone landfill cable.Precision does not reach requirement,
It is intended to consume more building stones, or needs to compensate operation and compensation detection, waste material and time and effort consuming, economy
Low and cost is difficult to control.
Invention content
The purpose of the present invention is：Jackstone precision is improved, with the exposed ocean bottom cable on sea bed of effective protection.
In order to achieve the above object, there is provided a kind of shallow water ocean bottom cable stone is accurate for a technical solution of the invention
Equipment is filled, including is mounted with the stone dumper of building stones, stone dumper direction on vertical direction is defined as top, and by shallow water
Ocean bottom cable direction is defined as lower section, which is characterized in that further includes：
Dynamic positioning system, the coordinate according to the determination of accurate route survey is by stone dumper in shallow water ocean bottom cable to be protected
Top is positioned；
N sections can end to end and dismountable jackstone pipe, after N >=2, M sections of jackstone pipes are end to end, 1≤M≤N, building stones warp
It is fallen by jackstone pipe and covers shallow water ocean bottom cable to be protected, end to end rear underlying first segment jackstone pipe is defined
For the first jackstone pipe, other jackstone pipes are sequentially defined as m jackstone pipes, m=1 ..., M from the bottom to top；
Pipe end accurate positioning device is fixed on the lower end of the first jackstone pipe, for driving end to end M section jackstone pipes
Lower end moves horizontally in a certain range；
Jackstone device includes for storing the jackstone pipe storage rack of N sections of jackstone pipes, for storing jackstone pipe from jackstone pipe
Jackstone pipe connection, the small end opening being transferred out on frame connect with end to end M section jackstone pipes and big end opening is used for
Funnel, the flow controller positioned at funnel and M sections of jackstone pipe joints and for adjusting building stones flow for importing building stones.
Preferably, the dynamic positioning system includes central control unit one, hull position sensor, hull posture sensing
Device and the propeller for being arranged in the stone dumper surrounding all directions and position, central control unit one is according to hull position sensing
The real-time ship for the stone dumper that the real-time hull location information and hull attitude transducer for the stone dumper that device obtains obtain
Body posture information controls the propeller in corresponding position and direction so that described in conjunction with the coordinate determined according to accurate route survey
Stone dumper positions above shallow water ocean bottom cable to be protected.
Preferably, further include：
Ultra short baseline locating system, in the way of Underwater Navigation, auxiliary stone dumper is on shallow water ocean bottom cable to be protected
Fang Jinhang is positioned；
Doppler log, during stone dumper is positioned above shallow water ocean bottom cable to be protected, for pair
Stone dumper carries out navigation system calibration.
Preferably, nonrigid connection type is used between the pipe end accurate positioning device and the first jackstone pipe,
So that the first jackstone pipe can slide up and down, and make the first jackstone pipe can the relatively described pipe end accurate positioning device pendulum
It is dynamic；
In the M sections of end to end jackstone pipes, nonrigid connection type is used between adjacent two sections of jackstone pipes so that
One section of jackstone pipe another section of jackstone pipe can slide up and down relatively, and one section of jackstone pipe another section of jackstone pipe can be swung relatively.
Preferably, the jackstone device further includes the jackstone Guan Yun of the height for adjusting end to end M section jackstone pipes
Movement controller.
Preferably, the pipe end accurate positioning device include steel structure frame, screw propeller, positional detecting device,
Central control unit two and umbilical cables, steel structure frame are fixed on the lower end of the first jackstone pipe, are fixed on steel structure frame
The positional detecting device in outside is for detecting the real-time exact position that pipe end accurate positioning device is presently in, positional detecting device
Obtained real-time precise position information is sent to the central control unit two on steel structure frame, by central control unit two
Adjustment location information is obtained according to real-time precise position information and preset position information, and is set to according to adjustment location information control
Screw propeller on steel structure frame is propeller by umbilical cables so as to adjust the position of the lower end of the M sections of jackstone pipe
Two supply of electrical energy of propeller and central control unit, and central control unit two and the manipulation center of stone dumper are built via umbilical cables
Vertical data communication.
Preferably, the pipe end accurate positioning device further includes filling effect on shallow water ocean bottom cable for detecting building stones
Effect detection device, the data of acquisition are transferred to the central control unit two by effect detection device；During jackstone,
Sea bed is scanned in real time by effect detection device and transfers data to the manipulation center on ship, or the shallow water filled
After ocean bottom cable length reaches preset value, stone dumper is slowly returned along cable trails, in return course, passes through effect detection
Device verifies landfill effect.
There is provided a kind of accurate burying method of shallow water ocean bottom cable stone, features for another technical solution of the present invention
It is, includes the following steps：
Step 1, the stone dumper for being mounted with building stones are navigated by water to marine site residing for shallow water ocean bottom cable to be filled, and reach landfill
After near point position, start dynamic positioning system, the coordinate determined according to accurate route survey is passed through by dynamic positioning system
Adjustment hull posture and hull position position stone dumper above shallow water ocean bottom cable so that stone dumper distance is accurate
Landfill starts place and is no more than 150 meters；
First jackstone pipe is transferred out from jackstone pipe storage shelf by step 2 by jackstone pipe connection, and pipe end is accurately fixed
After position device is connected with the lower end of the first jackstone pipe, the first jackstone pipe is hung with pipe end accurate positioning device vertically jointly into
Water, then by subsequent M-1 sections of jackstone pipe with the first jackstone pipe is end to end successively is connected.
Step 3 carries out accurate spy position in real time by pipe end accurate positioning device, and visits position data a certain range according to real-time
Inside move horizontally the position of the lower end of M sections of jackstone pipes so that the lower end aligned of M sections of jackstone pipes fills target location；
Step 4, building stones are transported in M sections of jackstone pipes via flow controller and are thrown to mesh under jackstone pipe by funnel
Cursor position forms stone buring layer, and during jackstone, stone dumper is along both tramp-liners and speed of a ship or plane navigation.
Preferably, in step 4, during the jackstone, the jackstone pipe motion controller of jackstone device passes through hydraulic pressure system
System is adjusted the height of M sections of jackstone pipes, to compensate due to height change caused by the hull movement of stone dumper, makes M sections of throwings
Height of the lower end of madreporic canal apart from sea bed is maintained between 1 to 2 meter.
Preferably, in step 1, the building stones that stone dumper carries are divided into the rubble material of a diameter of 50-200mm and a diameter of
The fine rock material of 10-80mm, then the step 4 include：
Step 4-1, fine rock material is transported to by jackstone device in M sections of jackstone pipes and is thrown to target position under jackstone pipe
It sets, confirms that fine rock material fills in the hanging space below shallow water ocean bottom cable completely by effect detection device, and fill to whole
After a shallow water ocean bottom cable, the work of shedding of fine rock material is completed, and forms the microlith bed of material；
Step 4-2, rubble material is transported to by jackstone device in M sections of jackstone pipes and is thrown to fine rock material under jackstone pipe
Position through filling monitors the size of landfill heap by effect detection device until reaching preset sectional dimension, shape in real time
At the rubble bed of material.
The present invention is suitable for carrying out landfill protection to ocean bottom cable in shallow water area jackstone.Using flexible jackstone pipe and jackstone
Pipe end accurate positioning device below pipe moderately adjusts jackstone position, compensates due to precision caused by hull dynamic positioning itself
Deficiency, and flow is controlled by the flow controller of jackstone device itself, to reach being precisely controlled for jackstone precision and dynamics.From
And improve the efficiency of jackstone landfill.
Description of the drawings
Fig. 1 is the structural schematic diagram that shallow water ocean bottom cable stone of the present invention accurately fills equipment entirety；
Fig. 2 is the structural schematic diagram of pipe end accurate positioning device in the present invention；
Fig. 3 is the structural schematic diagram for filling stone layer；
Fig. 4 is the schematic diagram that the first jackstone pipe is connect with pipe end accurate positioning device in the present invention；
Fig. 5 is the jackstone apparatus structure schematic diagram in the present invention.
Specific implementation mode
In order to make the present invention more obvious and understandable, hereby with preferred embodiment, and attached drawing is coordinated to be described in detail below.
As shown in Figure 1, the present invention provides a kind of shallow water ocean bottom cable stones accurately to fill equipment, including it is mounted with building stones
Stone dumper 1, stone dumper 1 have manipulation center.In the present invention, 1 direction of stone dumper on vertical direction is defined as top,
And 8 direction of shallow water ocean bottom cable is defined as lower section.
Dynamic positioning system 5 on stone dumper 1, the coordinate determined according to accurate route survey by dynamic positioning system 5 will
Stone dumper 1 is positioned above shallow water ocean bottom cable 8.Dynamic positioning system 5 includes central control unit one, hull position biography
Sensor, hull attitude transducer and the propeller for being arranged in 1 surrounding all directions and position of the stone dumper.Central control unit
One establishes data with the manipulation center of stone dumper 1 communicates, and existing any wired or wireless communication may be used in communication mode
Mode, such as cable may be used, WIFI etc. can also be used.
The real-time hull location information and hull for the stone dumper 1 that central control unit one is obtained according to hull position sensor
The real-time hull posture information for the stone dumper 1 that attitude transducer obtains, in conjunction with the coordinate determined according to accurate route survey, control
The propeller of corresponding position and direction so that the stone dumper 1 positions above shallow water ocean bottom cable 8 to be protected, stone dumper 1
Hull holding position is constant in a certain range.
Equipment provided by the invention further include N sections can end to end and dismountable jackstone pipe, N >=2.From N sections of jackstone pipes
In end to end, the 1≤M≤N that selects M sections of jackstone pipes, the pipeline of building stones whereabouts is provided.In the present invention, will be end to end after be located at
The first segment jackstone pipe of lower section is defined as the first jackstone pipe 3, other jackstone pipes are sequentially defined as m jackstones pipe 4, m from the bottom to top
=1 ..., M.
In M sections of jackstone pipes, nonrigid connection type is used between adjacent two sections of jackstone pipes, so that between jackstone pipe
It a degree of can slide axially, i.e., one section of jackstone pipe another section of jackstone pipe can slide up and down relatively, and allow appropriate phase
Diagonal displacement, i.e. one section of jackstone pipe another section of jackstone pipe can be swung relatively.In the present invention, those skilled in the art may be used more
Structure is planted to realize nonrigid connection type.And in the present invention, realize that the structure of nonrigid connection type is：
In two sections of jackstone pipes being connected with each other, the port of one section of jackstone pipe is thinner, and the port of another section of jackstone pipe is thicker, compared with
Thin port is inserted into thinner port, to realize nonrigid connection type.Reached by nonrigid connection type and is repaiied
The purpose of the lower end position of positive M sections of jackstone pipes.
It is fixed with pipe end accurate positioning device 2 in the lower end of the first jackstone pipe 3.Pipe end accurate positioning device 2 is for driving
The lower end of the end to end end to end jackstone pipe of M sections moves horizontally in a certain range.Stone dumper1Self power positioning dress
It sets and only carries out Primary Location, ship is made to be located at target landfill point top.But hull is inclined caused by dynamic positioning device corrects wave
Shifting ability has certain limitations.Under typical sea situation and typical hull parameter, horizontal-shift generally can be more than 3 meters.In addition, due to ocean current
The inertia motion of effect and jackstone pipe itself to jackstone pipe, the offset bigger of lower end (i.e. stone outlet hole).Pipe end is accurately fixed
Position device 2 drives jackstone pipe lower end to move in the horizontal direction correction, to reach accurate jackstone by the effect of screw propeller
Purpose.
Specifically, in conjunction with Fig. 2, in the present invention, pipe end accurate positioning device 2 includes steel structure frame 21, propeller
Propeller 22, positional detecting device 23, effect detection device 24, central control unit 2 25 and umbilical cables 26.Steel structure frame
21 are fixed on the lower end of the first jackstone pipe 3.The effect detection device 24 in 21 outside of steel structure frame is fixed on for detecting building stones
Effect is filled on shallow water ocean bottom cable 8.Effect detection device 24 includes terrain data scanner and multi-beam echo sounding device etc.,
The shape and size that buring layer later is operated by detecting landfill, to detect landfill effect of the building stones on shallow water ocean bottom cable 8.
Be fixed on the positional detecting device 23 in the outside of steel structure frame 21 for detect pipe end accurate positioning device 2 be presently in it is real-time
Exact position.Positional detecting device 23 includes navigator, sounding instrument, altimeter, Underwater Camera, sonar locator etc., by this
The data that a little equipment obtain are combined, to detect the exact position of present apparatus.The real-time essence that positional detecting device 23 obtains
True location information is sent to the central control unit 2 25 on steel structure frame 21, by central control unit 2 25 according to reality
When precise position information and preset position information obtain adjustment location information, and according to adjustment location information, by being based on rigid body
The algorithm of movement controls the screw propeller 22 on steel structure frame 21 in conjunction with thrust, resistance, action of ocean current power
So as to adjust the position of the lower end of M sections of jackstone pipes.Screw propeller 22 is promoted by the propeller with diversion pipe that electric power pushes
Device, at least four and towards different directions, screw propeller 22 generates appropriate parties under the control of central control unit 2 25
To the thrust with size to maintain jackstone pipe lower end to be accurately in pre-selected locations.By umbilical cables 26 be screw propeller 22 and
2 25 supply of electrical energy of central control unit, and central control unit 2 25 and the manipulation center of stone dumper 1 are built via umbilical cables 26
Vertical data communication.
In conjunction with Fig. 4, nonrigid mode, the first jackstone pipe are used between pipe end accurate positioning device 2 and the first jackstone pipe 3
3 end is inserted in the thicker sleeve at 2 center of pipe end accurate positioning device, and the first jackstone pipe 3 can be a degree of along axis
To sliding, i.e., the first jackstone pipe 3 can slide up and down, and relative angular displacement can be kept to loosen in an articulated fashion, i.e. the first jackstone
Pipe 3 can be swung with respect to pipe end accurate positioning device 2.
In conjunction with Fig. 5, the basic function of jackstone device 9 is the building stones for receiving to provide from excavator, and is thrown according to setting flow
It is sent in jackstone pipe.Meanwhile it being carried out with the vertical position of the wave compensation system jackstone pipe end to end to M sections a degree of
It keeps.
Jackstone device 9 includes for storing the jackstone pipe storage rack 95 of N sections of jackstone pipes, for depositing jackstone pipe from jackstone pipe
Storage frame 95 on be transferred out jackstone pipe connection 93, small end opening connects with end to end M section jackstone pipes and big end is opened
Funnel 91 of the mouth for importing building stones, the flow control positioned at funnel 91 and M sections of jackstone pipe joints and for adjusting building stones flow
The jackstone pipe motion controller 94 of device 92 processed, height for adjusting end to end M section jackstone pipes.
Flow controller 92 utilizes vibrational energy and gravity, and excitation building stones are discharged from the small end opening of funnel 91, and combine
The openings of sizes of funnel 91 controls rational flow.
Jackstone pipe motion controller 94 is realized using the hydraulic operation device of multiple connection upper-lower section jackstone pipes, passes through hydraulic pressure
On the one hand operating device can link into an integrated entity multistage jackstone pipe, on the other hand can be during jackstone to the height of jackstone pipe
Degree is adjusted, and compensated as possible due to height change caused by hull movement, makes height of the lower end of jackstone pipe apart from sea bed 7
It is maintained between 1 to 2 meter.
The present invention also provides a kind of accurate burying methods of shallow water ocean bottom cable stone, include the following steps：
Step 1, the stone dumper 1 for being mounted with building stones are navigated by water to marine site residing for shallow water ocean bottom cable 8 to be filled.Load building stones
Can be loaded at building stones harbour by stone dumper 1, or by barge carry building stones and unloading device at sea to stone dumper 1 into
Row building stones supplement.Loading the time accounting of building stones need to accurately calculate and consider within operation scheduling and operation cost.
After stone dumper 1 reaches landfill place position nearby, start dynamic positioning system 5, it is true according to accurate route survey
Fixed coordinate by dynamic positioning system 5 by adjusting hull posture and hull position by stone dumper 1 above shallow water ocean bottom cable 8
It is positioned so that stone dumper 1 starts place apart from accurate landfill and is no more than 150 meters.In position fixing process, it can also start
Ultra short baseline locating system carries out Underwater Navigation, and starts Doppler log and carry out navigation system calibration.Ensure hull position
Just starting subsequent step after 8 level of shallow water ocean bottom cable, 150 meters or so safe distances.
First jackstone pipe 3 is transferred out from jackstone pipe storage shelf 95, pipe end by step 2 by jackstone pipe connection 93
It is after accurate positioning device 2 is connected with the lower end of the first jackstone pipe 3, the first jackstone pipe 3 and pipe end accurate positioning device 2 is jointly perpendicular
Directly hang into water.Then by subsequent M-1 sections of jackstone pipe with the first jackstone pipe 3 is end to end successively is connected.
Step 3 is carried out accurate spy position in real time by pipe end accurate positioning device 2, and starts spiral shell according to real-time position data of visiting
Rotation paddle propeller 22 moves horizontally the position of the lower end of M sections of jackstone pipes in a certain range so that the lower end aligned of M sections of jackstone pipes
Fill target location.
Step 4, building stones are transported to by excavator in funnel 91, and are transported to M sections of jackstone pipes via flow controller 92
In and thrown to target location under jackstone pipe and form stone buring layer 6.The bottom width of stone buring layer 6 is about not less than 8.2 meters,
Top surface width is not less than 2.1 meters, is highly not less than 1 meter.
During jackstone, stone dumper 1 is navigated by water along both tramp-liners and the speed of a ship or plane.Meanwhile the effect in pipe end accurate positioning device 2
Detection device 24 works asynchronously, and is scanned in real time to sea bed and transfers data to the manipulation center on ship.To realize behaviour
Make real time monitoring of the personnel to jackstone effect.
Moreover, jackstone pipe motion controller 94 is controlled by hydraulic device combination computer, to the upper and lower position of jackstone pipe
It is kept.To prevent the movement due to hull from jackstone pipe lower end being caused to collide with sea bed 7, pipe end accurate positioning device 2 is caused
Or the damage of shallow water ocean bottom cable 8.
In conjunction with Fig. 3, during jackstone, layering jackstone can be used and filled.It is contemplated that the diameter of rubble material be about
The diameter of 50-200mm, fine rock material are about 10-80mm.Specific Stone Standard Value can pass through cable impact test combination cable
Performance parameter is determined, also can carry out simulation calculation decision by cfdrc.
Corresponding to this, step 4 may include following two step：
Step 4-1, fine rock material is transported to by jackstone device 9 in M sections of jackstone pipes and is thrown to target position under jackstone pipe
It sets, confirms that fine rock material fills in the hanging space of 8 lower section of shallow water ocean bottom cable completely by effect detection device 24, and fill and arrive
After entire shallow water ocean bottom cable 8, the work of shedding of fine rock material is completed, and the microlith bed of material 62 is formed；
Step 4-2, rubble material is transported to by jackstone device 9 in M sections of jackstone pipes and is thrown to fine rock material under jackstone pipe
The position filled fills the size of heap until reaching preset section ruler by the monitoring in real time of effect detection device 24
It is very little, form the rubble bed of material 61.
In actual job, after the shallow water ocean bottom cable 8 that is filled by step 4 reaches 300 meters or so, behaviour can be suspended
Make.Stone dumper 1 is slowly returned along cable trails.In return course, with five meters for a section, dress is accurately positioned by pipe end
The effect detection device 24 set on 2 is verified.It verifies result to be recorded in detail, be wanted as discovery fails to meet buring layer size
Section is sought, landfill need to be carried out again to the section and is operated.After landfill operation, above-mentioned verification work is repeated, but only for weight
The multiple section filled, until all meeting size and requiring.
It is the implementation process suggestion of the present invention above, not with regard to the scope of the claims of this limitation present invention.It is every to utilize this hair
Equivalent method or the equivalent constructions transformation that bright specification and accompanying drawing content are done, or directly or indirectly it is used in other
Related field is included in the scope of patent protection of the present invention.
Claims (10)
- It, will be on vertical direction 1. a kind of shallow water ocean bottom cable stone accurately fills equipment, including is mounted with the stone dumper (1) of building stones Stone dumper (1) direction is defined as top, and shallow water ocean bottom cable (8) direction is defined as lower section, which is characterized in that Further include：Dynamic positioning system (5), the coordinate according to the determination of accurate route survey is by stone dumper (1) in shallow water seabed cable to be protected It is positioned above line (8)；N sections can end to end and dismountable jackstone pipe, after N >=2, M sections of jackstone pipes are end to end, 1≤M≤N, building stones are via throwing Madreporic canal falls and covers shallow water ocean bottom cable (8) to be protected, and end to end rear underlying first segment jackstone pipe is defined For the first jackstone pipe (3), other jackstone pipes are sequentially defined as m jackstones pipe (4), m=1 ..., M from the bottom to top；Pipe end accurate positioning device (2) is fixed on the lower end of the first jackstone pipe (3), for driving end to end M section jackstone pipes Lower end move horizontally in a certain range；Jackstone device (9), include for store the jackstone pipe storage rack (95) of N sections of jackstone pipes, for by jackstone pipe from jackstone pipe Jackstone pipe connection (93), the small end opening being transferred out in storage rack (95) connect with end to end M section jackstone pipes and Big end opening is used to import the funnel (91) of building stones, is located at funnel (91) with M sections of jackstone pipe joints and for adjusting building stones stream The flow controller (92) of amount.
- 2. a kind of shallow water ocean bottom cable stone as described in claim 1 accurately fills equipment, which is characterized in that the power is fixed Position system (5) includes central control unit one, hull position sensor, hull attitude transducer and is arranged in the stone dumper (1) propeller of surrounding all directions and position, the jackstone that central control unit one is obtained according to hull position sensor The real-time hull posture information for the stone dumper (1) that the real-time hull location information and hull attitude transducer of ship (1) obtain, In conjunction with the coordinate determined according to accurate route survey, the propeller in corresponding position and direction is controlled so that the stone dumper (1) exists Positioning above shallow water ocean bottom cable (8) to be protected.
- 3. a kind of shallow water ocean bottom cable stone as described in claim 1 accurately fills equipment, which is characterized in that further include：Ultra short baseline locating system, in the way of Underwater Navigation, auxiliary stone dumper (1) is in shallow water ocean bottom cable (8) to be protected Top is positioned；Doppler log is used for during stone dumper (1) is positioned above shallow water ocean bottom cable (8) to be protected Navigation system calibration is carried out to stone dumper (1).
- 4. a kind of shallow water ocean bottom cable stone as described in claim 1 accurately fills equipment, which is characterized in that the pipe end essence Nonrigid connection type is really used between positioning device (2) and the first jackstone pipe (3) so that the first jackstone pipe (3) it can slide up and down, and make the first jackstone pipe (3) can relatively described pipe end accurate positioning device (2) swing；In the M sections of end to end jackstone pipes, nonrigid connection type is used between adjacent two sections of jackstone pipes so that one section Jackstone pipe another section of jackstone pipe can slide up and down relatively, and one section of jackstone pipe another section of jackstone pipe can be swung relatively.
- 5. a kind of shallow water ocean bottom cable stone as claimed in claim 4 accurately fills equipment, which is characterized in that the jackstone dress Set the jackstone pipe motion controller (94) that (9) further include the height for adjusting end to end M section jackstone pipes.
- 6. a kind of shallow water ocean bottom cable stone as described in claim 1 accurately fills equipment, which is characterized in that the pipe end essence True positioning device (2) includes steel structure frame (21), screw propeller (22), positional detecting device (23), center control list First two (25) and umbilical cables (26), steel structure frame (21) are fixed on the lower end of the first jackstone pipe (3), are fixed on steel construction Positional detecting device (23) on the outside of frame (21) is for detecting the real-time accurate position that pipe end accurate positioning device (2) is presently in It sets, the real-time precise position information that positional detecting device (23) obtains is sent to the center control on steel structure frame (21) Unit two (25) obtains adjustment position by central control unit two (25) according to real-time precise position information and preset position information Information, and the screw propeller (22) on steel structure frame (21) is set to so as to adjust described according to adjustment location information control The position of the lower end of M sections of jackstone pipes is that screw propeller (22) and central control unit two (25) supply by umbilical cables (26) Electric energy, and central control unit two (25) is established data via umbilical cables (26) with the manipulation center of stone dumper (1) and is communicated.
- 7. a kind of shallow water ocean bottom cable stone as claimed in claim 6 accurately fills equipment, which is characterized in that the pipe end essence True positioning device (2) further includes that the effect detection device (24) of effect is filled for detecting building stones on shallow water ocean bottom cable (8), The data of acquisition are transferred to the central control unit two (25) by effect detection device (24)；During jackstone, by effect Detection device (24) is in real time scanned sea bed and transfers data to the manipulation center on ship, or the shallow water sea filled After bottom cable (8) length reaches preset value, stone dumper (1) is slowly returned along cable trails, in return course, passes through effect Detection device (24) verifies landfill effect.
- 8. a kind of accurate burying method of shallow water ocean bottom cable stone, which is characterized in that include the following steps：Step 1, stone dumper (1) navigation for being mounted with building stones reach landfill to marine site residing for shallow water ocean bottom cable (8) to be filled After near place position, start dynamic positioning system (5), the coordinate according to the determination of accurate route survey is by dynamic positioning system (5) stone dumper (1) is positioned above shallow water ocean bottom cable (8) by adjusting hull posture and hull position so that throw The accurate landfill of stone ship (1) distance starts place and is no more than 150 meters；First jackstone pipe (3) is transferred out by step 2 by jackstone pipe connection (93) from jackstone pipe storage shelf (95), pipe After end accurate positioning device (2) is connected with the lower end of the first jackstone pipe (3), the first jackstone pipe (3) and pipe end are accurately positioned dress (2) are set to be hung vertically into water jointly, then by subsequent M-1 sections of jackstone pipe with the first jackstone pipe (3) is end to end successively is connected.Step 3 carries out accurate spy position in real time by pipe end accurate positioning device (2), and visits position data a certain range according to real-time Inside move horizontally the position of the lower end of M sections of jackstone pipes so that the lower end aligned of M sections of jackstone pipes fills target location；Step 4, building stones are transported in M sections of jackstone pipes via flow controller (92) and are thrown under jackstone pipe by funnel (91) Stone buring layer (6) is formed to target location, during jackstone, stone dumper (1) is along both tramp-liners and speed of a ship or plane navigation.
- 9. a kind of accurate burying method of shallow water ocean bottom cable stone as claimed in claim 8, which is characterized in that in step 4, During the jackstone, the jackstone pipe motion controller (94) of jackstone device (9) is by hydraulic system to the height of M sections of jackstone pipes It is adjusted, to compensate the lower end distance sea for making M sections of jackstone pipes due to height change caused by the hull movement of stone dumper (1) The height of bed (7) is maintained between 1 to 2 meter.
- 10. a kind of accurate burying method of shallow water ocean bottom cable stone as claimed in claim 8, which is characterized in that in step 1 In, the building stones that stone dumper (1) carries are divided into the rubble material of a diameter of 50-200mm and the fine rock material of a diameter of 10-80mm, then institute Stating step 4 includes：Step 4-1, fine rock material is transported to by jackstone device (9) in M sections of jackstone pipes and is thrown under jackstone pipe to target location, Confirm that fine rock material fills in the hanging space below shallow water ocean bottom cable (8) completely by effect detection device (24), and fills To after entire shallow water ocean bottom cable (8), the work of shedding of fine rock material is completed, and forms the microlith bed of material (62)；Step 4-2, rubble material is transported to by jackstone device (9) in M sections of jackstone pipes and is thrown to fine rock material under jackstone pipe Position through filling fills the size of heap until reaching preset section ruler by effect detection device (24) monitoring in real time It is very little, form the rubble bed of material (61).
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