CA2946611C - Long-term seafloor heat flow monitoring probe based on underwater robot platform - Google Patents
Long-term seafloor heat flow monitoring probe based on underwater robot platform Download PDFInfo
- Publication number
- CA2946611C CA2946611C CA2946611A CA2946611A CA2946611C CA 2946611 C CA2946611 C CA 2946611C CA 2946611 A CA2946611 A CA 2946611A CA 2946611 A CA2946611 A CA 2946611A CA 2946611 C CA2946611 C CA 2946611C
- Authority
- CA
- Canada
- Prior art keywords
- temperature measurement
- long
- self
- term
- probe
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Landscapes
- Testing Or Calibration Of Command Recording Devices (AREA)
- Arrangements For Transmission Of Measured Signals (AREA)
Abstract
The present invention discloses a long-term seafloor heat flow monitoring probe based on an underwater robot platform, comprising a support probe lance and a plurality of self-contained temperature measurement units. The plurality of self-contained temperature measurement units are fixed on the support probe lance at equal intervals in spiral distribution to form a distributed multi-point temperature measurement structure for long-term monitoring of temperature fluctuations of seafloor sediments at different depths; and each self-contained temperature measurement unit comprises a casing, a battery, a temperature measurement circuit board, a sensor packaging probe head and a temperature sensor, wherein both the battery and the temperature measurement circuit board are installed in the casing, the sensor packaging probe head is fixed at one end of the casing, and the temperature sensor is installed in the sensor packaging probe head and electrically connected with the temperature measurement circuit board. According to the present invention, the temperature sensors are in close contact with the seafloor sediments, and meanwhile, the self-contained temperature measurement units are installed in a spiral manner, thereby guaranteeing that each temperature sensor can come into contact with the sediments undisturbed, and maximally guaranteeing the rapidness and accuracy in the temperature measurement of the sediments.
Description
Long-term Seafloor Heat Flow Monitoring Probe Based on Underwater Robot Platform Technical Field The present invention relates to the technical field of measurement of seafloor hear flow, and in particular relates to a long-term seafloor heat flow monitoring probe based on an underwater robot platform.
Background Art Seafloor heat flow is an important component of terrestrial heat flow and provides important basic data for studying marine geodynamics, the evolution process of sedimentary basins, the evaluation of oil, gas and hydrate resources, and the hydrothermal circulation mechanism.
Seafloor heat flow can be either measured by means of seafloor drilling or seafloor heat flow probes, or calculated by means of the bottom simulating reflection (BSR) of a reflection seismic profile. Although the heat flow value obtained by seafloor drilling (deep-sea drilling, petroleum drilling and the like of ODP or DSDP) is less susceptible to the action of the earth's surface shallow layer and has higher reliability, fewer stations are distributed, the cost is higher, and thus, its application is restricted; due to influences from factors such as the discontinuity of BSR, estimation errors in the thermal conductivity of sediments and inconsistency of the base of the gas hydrate stability zone, there is a certain difference between the calculated results regarding BSR heat flow in some sea areas and the measured heat flow values, and the applicable range of BSR is somewhat narrow; and relatively speaking, shipborne probe-type seafloor heat flow measurement is flexible in operation and lower in cost and has a measurement range available to cover part of a deep water zone, thereby being widely applied in sea areas around the world.
Since the depth to which a heat flow probe is inserted into the sediments is small (generally less than 10m), the demand for a shallow seafloor environment is higher, and a relatively constant ambient temperature is required. The seafloor temperatures in most of deep water zones are relatively constant, but in shallow seas and part of deep water zones, the bottom water temperature variation (BVVTV for short) at the seafloor tends to be larger due to influences from the seasons, daily temperature, flow, waves, tides and other factors. For example, the monthly mean variation of BVVTV in winter and summer in part of the water areas deeper than 50m in the East Chain Sea may be as much as 5 C; in the sea area about 2900m deep in the Nankai trough of Japan, the fluctuation in the bottom water temperature in a year is also up to 0.8 C (FIG. 1); and after the bottom water temperature fluctuations were monitored in the Xisha and Dongsha sea areas in the northern South China Sea in 2013 and 2014, the research group of the inventor found that the bottom water temperature variation in one (with a water depth of 900m or so) of the stations reached 0.42 C within 48 hours. It shall be noted that this is the fluctuation observed only within a short time (about 2 days), and the amplitude of its fluctuation should be larger within a longer time scale.
What are the influences of BVVTV to the seafloor heat flow measurement results? According to previous studies, BVVTV will affect the geothermal gradient of surface sediments through thermal conduction in terms of temperature fluctuation amplitude and phase. The decay of its amplitude follows the exponential law, and the decay speed is related to the period of BVVTV.
BWTV is generally formed by
Background Art Seafloor heat flow is an important component of terrestrial heat flow and provides important basic data for studying marine geodynamics, the evolution process of sedimentary basins, the evaluation of oil, gas and hydrate resources, and the hydrothermal circulation mechanism.
Seafloor heat flow can be either measured by means of seafloor drilling or seafloor heat flow probes, or calculated by means of the bottom simulating reflection (BSR) of a reflection seismic profile. Although the heat flow value obtained by seafloor drilling (deep-sea drilling, petroleum drilling and the like of ODP or DSDP) is less susceptible to the action of the earth's surface shallow layer and has higher reliability, fewer stations are distributed, the cost is higher, and thus, its application is restricted; due to influences from factors such as the discontinuity of BSR, estimation errors in the thermal conductivity of sediments and inconsistency of the base of the gas hydrate stability zone, there is a certain difference between the calculated results regarding BSR heat flow in some sea areas and the measured heat flow values, and the applicable range of BSR is somewhat narrow; and relatively speaking, shipborne probe-type seafloor heat flow measurement is flexible in operation and lower in cost and has a measurement range available to cover part of a deep water zone, thereby being widely applied in sea areas around the world.
Since the depth to which a heat flow probe is inserted into the sediments is small (generally less than 10m), the demand for a shallow seafloor environment is higher, and a relatively constant ambient temperature is required. The seafloor temperatures in most of deep water zones are relatively constant, but in shallow seas and part of deep water zones, the bottom water temperature variation (BVVTV for short) at the seafloor tends to be larger due to influences from the seasons, daily temperature, flow, waves, tides and other factors. For example, the monthly mean variation of BVVTV in winter and summer in part of the water areas deeper than 50m in the East Chain Sea may be as much as 5 C; in the sea area about 2900m deep in the Nankai trough of Japan, the fluctuation in the bottom water temperature in a year is also up to 0.8 C (FIG. 1); and after the bottom water temperature fluctuations were monitored in the Xisha and Dongsha sea areas in the northern South China Sea in 2013 and 2014, the research group of the inventor found that the bottom water temperature variation in one (with a water depth of 900m or so) of the stations reached 0.42 C within 48 hours. It shall be noted that this is the fluctuation observed only within a short time (about 2 days), and the amplitude of its fluctuation should be larger within a longer time scale.
What are the influences of BVVTV to the seafloor heat flow measurement results? According to previous studies, BVVTV will affect the geothermal gradient of surface sediments through thermal conduction in terms of temperature fluctuation amplitude and phase. The decay of its amplitude follows the exponential law, and the decay speed is related to the period of BVVTV.
BWTV is generally formed by
2 the combined superposition of influencing factors of different periods.
Therein, a portion in a long period decays slower with far-reaching influences; and a portion in a short period decays faster. For example, BWTV within a day as a period may only influence as deep as about 0.5m, and BVVTV within a season as a period may influence sediments at a depth of up to 8m to 9m. A common seafloor heat flow probe has a probing depth of up to 6m to 10m, and the influence of the short-period BWTV may be basically avoided after removing surface geothermal gradient data. However, for long-period BWTV, conventional seafloor heat flow probes may not penetrate through its influencing depth, resulting in the measured geothermal gradient not necessarily reflecting the thermal state of this site truthfully. In this case, conventional seafloor heat flow probes are not very suitable for obtaining geothermal parameters in sea areas with larger bottom water temperature fluctuations.
How to avoid the influences of BWTV to heat flow measurement? There are two approaches: the first is to find a way to increase the measurement depth as much as possible to avoid the influencing depth of the bottom water temperature on the surface; and the second is to find a way to acquire the fluctuation variation law of the temperature at different depths of the surface sediments and then analyze this data of long-term sequences to eliminate the influences of the bottom water temperature fluctuations, thereby acquiring reliable background geothermal information. In the first approach, once the heat flow probe is too long, its operation difficulty and other various problems will be highlighted (such as restrictions on equipment weight, implementation capacity of a research vessel, condition of seafloor sediments), and thus, it is not a very good solution. With the continuous improvement of science and technology, it has been possible to conduct long-term (more than one year) temperature monitoring at the seafloor, therefore, many scholars have started to develop long-term monitoring equipment to monitor and study the sea areas with larger bottom water temperature fluctuations. This solution is practicable and very meaningful at present.
Several representative pieces of equipment are selected and will be briefly introduced below.
(1) Drilling-type long-term seafloor heat flow monitoring system The Japan Agency for Marine-Earth Science and Technology (JAMSTEC) employs a reusable drilling-based long-term temperature measurement technology (FIG. 2), and they call it Circulation Obviation Retrofit Kits (CORKs or ACORKs for short). A drilled hole is as deep as several hundred meters, and besides temperature sensors, various sensors for pore water pressure and the like are also installed for mainly monitoring the co-seismic effects of earthquakes, such as the variations of temperature, water pressure and the like at different depths of the drilled hole before and after the earthquake. Naturally, the obtained long-term temperature fluctuation data may also be used for explaining the geothermal distribution conditions without an influence from the bottom water temperature fluctuations. Core components of CORKs mainly include a data logger (including a battery) and a sensor string. During specific operation, under the assistance of an underwater robot, a multi-sensor (including temperature sensors) string type measurement instrument with a weight is vertically lowered into a hollow casing pipe of a seafloor drilled hole (for example, an IODP drilled hole), a plurality of temperature sensors are used to measure the ambient temperatures (or equilibrium temperature) at different depths of the drilled hole, and all the data is saved in the data logger in the mouth of the hole. During recovery, the underwater robot takes the data logger at the mouth of the hole back, and replace it with a data
Therein, a portion in a long period decays slower with far-reaching influences; and a portion in a short period decays faster. For example, BWTV within a day as a period may only influence as deep as about 0.5m, and BVVTV within a season as a period may influence sediments at a depth of up to 8m to 9m. A common seafloor heat flow probe has a probing depth of up to 6m to 10m, and the influence of the short-period BWTV may be basically avoided after removing surface geothermal gradient data. However, for long-period BWTV, conventional seafloor heat flow probes may not penetrate through its influencing depth, resulting in the measured geothermal gradient not necessarily reflecting the thermal state of this site truthfully. In this case, conventional seafloor heat flow probes are not very suitable for obtaining geothermal parameters in sea areas with larger bottom water temperature fluctuations.
How to avoid the influences of BWTV to heat flow measurement? There are two approaches: the first is to find a way to increase the measurement depth as much as possible to avoid the influencing depth of the bottom water temperature on the surface; and the second is to find a way to acquire the fluctuation variation law of the temperature at different depths of the surface sediments and then analyze this data of long-term sequences to eliminate the influences of the bottom water temperature fluctuations, thereby acquiring reliable background geothermal information. In the first approach, once the heat flow probe is too long, its operation difficulty and other various problems will be highlighted (such as restrictions on equipment weight, implementation capacity of a research vessel, condition of seafloor sediments), and thus, it is not a very good solution. With the continuous improvement of science and technology, it has been possible to conduct long-term (more than one year) temperature monitoring at the seafloor, therefore, many scholars have started to develop long-term monitoring equipment to monitor and study the sea areas with larger bottom water temperature fluctuations. This solution is practicable and very meaningful at present.
Several representative pieces of equipment are selected and will be briefly introduced below.
(1) Drilling-type long-term seafloor heat flow monitoring system The Japan Agency for Marine-Earth Science and Technology (JAMSTEC) employs a reusable drilling-based long-term temperature measurement technology (FIG. 2), and they call it Circulation Obviation Retrofit Kits (CORKs or ACORKs for short). A drilled hole is as deep as several hundred meters, and besides temperature sensors, various sensors for pore water pressure and the like are also installed for mainly monitoring the co-seismic effects of earthquakes, such as the variations of temperature, water pressure and the like at different depths of the drilled hole before and after the earthquake. Naturally, the obtained long-term temperature fluctuation data may also be used for explaining the geothermal distribution conditions without an influence from the bottom water temperature fluctuations. Core components of CORKs mainly include a data logger (including a battery) and a sensor string. During specific operation, under the assistance of an underwater robot, a multi-sensor (including temperature sensors) string type measurement instrument with a weight is vertically lowered into a hollow casing pipe of a seafloor drilled hole (for example, an IODP drilled hole), a plurality of temperature sensors are used to measure the ambient temperatures (or equilibrium temperature) at different depths of the drilled hole, and all the data is saved in the data logger in the mouth of the hole. During recovery, the underwater robot takes the data logger at the mouth of the hole back, and replace it with a data
3 logger having a new battery to realize long-term cycle measurement. In addition, there is another practice in which the entire sensor string is also taken out. This sensor string often consists of a plurality of self-contained miniaturized temperature measurement units (i.e. including batteries and memories), and the data is not stored in the data logger at the mouth of the hole.
The number of measurement channels of CORKs can be changed and replaced flexibly, the measurement depth can reach several hundred meters (depending on drilling depth), and the equipment can be reused a plurality of times at the seafloor to obtain plentiful data.
Nevertheless, its application objective mainly lies in co-seismic monitoring, the distribution and quantity of sites are limited by the seafloor drilling, therefore, the application range is limited. Meanwhile, the temperature measured thereby is directed to water temperature at different depths in the drilled hole, and this may also be different from the actual temperature of a stratum at the corresponding depth.
(2) Pop-up type long-term seafloor heat flow monitoring system The Yamano team from the Earthquake Research Institute of the University of Tokyo in Japan employs a pop-up type probe monitoring instrument to realize long-term heat flow monitoring (FIG. 3), and they call it PLHF (Pop-up Long-term Heat Flow instrument). In this piece of equipment, six thermistor temperature sensors are packaged in a slim metal probe with a length of about 2m and the sensors in the probe are connected with a recording unit in a recovery cabin through watertight cables to realize temperature collection. When the monitoring instrument is lowered, the probe, a weight and the recovery cabin are fixed together and then lowered into the sea from a research vessel. Under the pressure of the weight, the probe is inserted into the seafloor sediments.
During recovery, the recovery cabin cuts the connecting wires between the sensors and the recovery cabin through an electric cutter and meanwhile discards the metal probe and the weight through an acoustic releaser to realize the pop-up of the recovery cabin.
With respect to the seafloor drilling-type long-term seafloor heat flow monitoring solution above, PLHF is the system truthfully taking the long-term seafloor heat flow monitoring as an objective, which is convenient and flexible in operation manner, and can be lowered and recovered with the research vessel as a carrier as long as sea conditions for operation are not too bad, therefore, it is suitable for most sea area operations. Nevertheless, this equipment depends on self gravity force to realize the insertion of the temperature measurement probe, which cannot be inserted successfully if the seafloor sediments are harder. Therefore, before lowering the PLHF system, it is normal to conduct sediment investigation with reference to the sediment thickness reflected by the seismic profile by using a gravity sampler for sampling. Moreover, this pop-up equipment is more complicated in structure and needs to be awakened through an underwater sound communicator during recovery, then, the electric cutter is used to cut off the sensor cables in the probe to realize separation between the weight and the instrument cabin, therefore, the requirements on the reliability and stability of the releasing equipment is higher.
(3) ROV-based long-term seafloor heat flow monitoring system During the cruise NT07-E1 of YK06-03 of JAMSTEC, a long-term seafloor heat flow monitoring system (FIG. 4) based on the operation of a shipborne cabled remotely operated vehicle (ROV) was used, and they called it LTMS (Long-term Temperature Monitoring System). This system consists of a data logger (including a battery and a temperature measurement circuit) and two temperature sensor
The number of measurement channels of CORKs can be changed and replaced flexibly, the measurement depth can reach several hundred meters (depending on drilling depth), and the equipment can be reused a plurality of times at the seafloor to obtain plentiful data.
Nevertheless, its application objective mainly lies in co-seismic monitoring, the distribution and quantity of sites are limited by the seafloor drilling, therefore, the application range is limited. Meanwhile, the temperature measured thereby is directed to water temperature at different depths in the drilled hole, and this may also be different from the actual temperature of a stratum at the corresponding depth.
(2) Pop-up type long-term seafloor heat flow monitoring system The Yamano team from the Earthquake Research Institute of the University of Tokyo in Japan employs a pop-up type probe monitoring instrument to realize long-term heat flow monitoring (FIG. 3), and they call it PLHF (Pop-up Long-term Heat Flow instrument). In this piece of equipment, six thermistor temperature sensors are packaged in a slim metal probe with a length of about 2m and the sensors in the probe are connected with a recording unit in a recovery cabin through watertight cables to realize temperature collection. When the monitoring instrument is lowered, the probe, a weight and the recovery cabin are fixed together and then lowered into the sea from a research vessel. Under the pressure of the weight, the probe is inserted into the seafloor sediments.
During recovery, the recovery cabin cuts the connecting wires between the sensors and the recovery cabin through an electric cutter and meanwhile discards the metal probe and the weight through an acoustic releaser to realize the pop-up of the recovery cabin.
With respect to the seafloor drilling-type long-term seafloor heat flow monitoring solution above, PLHF is the system truthfully taking the long-term seafloor heat flow monitoring as an objective, which is convenient and flexible in operation manner, and can be lowered and recovered with the research vessel as a carrier as long as sea conditions for operation are not too bad, therefore, it is suitable for most sea area operations. Nevertheless, this equipment depends on self gravity force to realize the insertion of the temperature measurement probe, which cannot be inserted successfully if the seafloor sediments are harder. Therefore, before lowering the PLHF system, it is normal to conduct sediment investigation with reference to the sediment thickness reflected by the seismic profile by using a gravity sampler for sampling. Moreover, this pop-up equipment is more complicated in structure and needs to be awakened through an underwater sound communicator during recovery, then, the electric cutter is used to cut off the sensor cables in the probe to realize separation between the weight and the instrument cabin, therefore, the requirements on the reliability and stability of the releasing equipment is higher.
(3) ROV-based long-term seafloor heat flow monitoring system During the cruise NT07-E1 of YK06-03 of JAMSTEC, a long-term seafloor heat flow monitoring system (FIG. 4) based on the operation of a shipborne cabled remotely operated vehicle (ROV) was used, and they called it LTMS (Long-term Temperature Monitoring System). This system consists of a data logger (including a battery and a temperature measurement circuit) and two temperature sensor
4 probes, and the sensor probes are connected with the data logger through a watertight cable 2m long.
Six temperature sensors are uniformly arranged in the probe at an interval of 10cm, and the probe is 0.76m in length and 13mm in diameter and has a structure similar to that of the probe of PLHF. During operation, LTMS is carried to the seafloor by the ROV, which inserts the temperature probes into the sediments through a robot arm, with the data logger placed aside; and during recovery, the ROV pulls out the temperature probe heads and takes them back to the research vessel together with the data logger.
Compared with the pop-up type PLHF system, the LTMS based on ROV operation has a relatively simple structure and high success ratio in operation. But the LTMS is larger in size and weight, has the length, width and height of 1,20m X 0.43m X 0.51m together with a frame and the data logger, and weighs up to 22kg in the water and 39.6kg in the air. Nevertheless, the carrying capacity of the ROV is generally limited, resulting in it being difficult for the ROV with slightly weak carrying capacity to carry out the seafloor operations for other equipment during deployment and recovering of LTMS. Therefore, it is relatively high in operation cost and low in comprehensive operation efficiency. Meanwhile, as the sensor probe of PLHF, the plurality of temperature sensors are sealed in a metal tube which is fully filled with heat transfer oil and is more than 13mm in diameter; due to the isolation effect of the oil and tube, the response of the temperature sensors to the temperature variation of the surrounding sediments is lagged, and some high-frequency small-amplitude temperature variation signals are filtered and removed, resulting in a reduction of the temperature sensing sensitivity. But after reducing the diameter of the metal tube, it will be decreased in strength and easily break during the insertion process.
Table 1 Brief comparison among the three types of long-term seafloor heat flow monitoring solutions Long-term monitoring Applicable conditions or Major advantages and disadvantages equipment range Drilling-type CORKs Advantages: the number and interval of the Research vessel available temperature measurement channels can be adjusted for seafloor drilling and flexibly; the temperature measurement string is carrying the underwater reusable; and the measurement depth is large, and robot.
the data is relatively reliable.
Disadvantages: the drilled holes are limited in 1 distribution and the drilling is high in cost;
Pop-up type PLHF 1 Advantages: the operation is flexible and the Most sea areas with soft requirement on the research vessel is low, sediments are applicable, Disadvantages: the equipment is relatively and the requirements for complicated in composition structure and has higher the research vessel and requirements for system reliability; and the sensitivity the operation sea and response speed of the sensors are plain. conditions are low.
ROV-based LTMS Advantages: simple structure and high operation The research vessel success ratio, and the core component of the needs to be provided with equipment is reusable. an underwater robot with a Disadvantages: the size and weight are relatively certain carrying capability.
large, resulting in lower comprehensive operation efficiency and higher cost of the remotely operated vehicle; and the sensor sensitivity and the response speed are normal.
Table 1 briefly describes the characteristics and applicabilities of the three types of long-term seafloor heat flow monitoring systems as described above, and from Table 1. it can be seen that each type of equipment has respective advantages and disadvantages as well as applicabilities, and meanwhile undergoes different restriction conditions. The long-term seafloor heat flow monitoring equipment is developed towards the directions of wider application range, higher success ratio and efficiency, better temperature measurement sensitivity, portability, compactness and the like.
With the development of science and technology and the upgrade and popularization of offshore operation equipment, the operation of shipborne underwater robots has become mature gradually and is undergoing rapid popularization. The underwater robots are classified into shipborne ROVs (remotely operated vehicles), AUVs (autonomous underwater vehicles) and manned submersible vehicles, and they have the functions of real-time image transmission and robot arm operation and the like during underwater operation, thereby bringing giant convenience to the seafloor heat flow probing and greatly improving the reliability and success ratio in the heat flow operation. In future heat flow investigations, underwater robots will play an increasingly important role, and developing heat flow equipment based on underwater robots will also be a development trend.
Summary of the Invention With respect to the defects in the prior art, the objective of the present invention is to provide a long-term seafloor heat flow monitoring probe based on an underwater robot working platform, which structurally consists of a support probe lance and a plurality of self-contained temperature measurement units; the sensor packaging probe heads less than 5mm in diameter are in close contact with the sediments on the seafloor, therefore, the sensors are faster in response speed to the sediment temperature variation and have better accuracy.
To achieve the objective as described above, the present invention employs a technical solution as follows:
A long-term seafloor heat flow monitoring probe based on an underwater robot platform, comprising a support probe lance and a plurality of self-contained temperature measurement units available for long-term seafloor heat flow monitoring for more than 1 year, wherein the plurality of self-contained temperature measurement units are fixed on the support probe lance at equal intervals in a spiral distribution to form a distributed multi-point temperature measurement structure for long-term monitoring of temperature fluctuations of seafloor sediments at different depths; the upper portion of the support probe lance is a gripping handle, and the lower portion of the support probe lance is a fixing tube in fixed connection with the gripping handle; each self-contained temperature measurement unit comprises a casing, a battery, a temperature measurement circuit board, a sensor packaging probe head and a temperature sensor, wherein both the battery and the temperature measurement circuit board are
Six temperature sensors are uniformly arranged in the probe at an interval of 10cm, and the probe is 0.76m in length and 13mm in diameter and has a structure similar to that of the probe of PLHF. During operation, LTMS is carried to the seafloor by the ROV, which inserts the temperature probes into the sediments through a robot arm, with the data logger placed aside; and during recovery, the ROV pulls out the temperature probe heads and takes them back to the research vessel together with the data logger.
Compared with the pop-up type PLHF system, the LTMS based on ROV operation has a relatively simple structure and high success ratio in operation. But the LTMS is larger in size and weight, has the length, width and height of 1,20m X 0.43m X 0.51m together with a frame and the data logger, and weighs up to 22kg in the water and 39.6kg in the air. Nevertheless, the carrying capacity of the ROV is generally limited, resulting in it being difficult for the ROV with slightly weak carrying capacity to carry out the seafloor operations for other equipment during deployment and recovering of LTMS. Therefore, it is relatively high in operation cost and low in comprehensive operation efficiency. Meanwhile, as the sensor probe of PLHF, the plurality of temperature sensors are sealed in a metal tube which is fully filled with heat transfer oil and is more than 13mm in diameter; due to the isolation effect of the oil and tube, the response of the temperature sensors to the temperature variation of the surrounding sediments is lagged, and some high-frequency small-amplitude temperature variation signals are filtered and removed, resulting in a reduction of the temperature sensing sensitivity. But after reducing the diameter of the metal tube, it will be decreased in strength and easily break during the insertion process.
Table 1 Brief comparison among the three types of long-term seafloor heat flow monitoring solutions Long-term monitoring Applicable conditions or Major advantages and disadvantages equipment range Drilling-type CORKs Advantages: the number and interval of the Research vessel available temperature measurement channels can be adjusted for seafloor drilling and flexibly; the temperature measurement string is carrying the underwater reusable; and the measurement depth is large, and robot.
the data is relatively reliable.
Disadvantages: the drilled holes are limited in 1 distribution and the drilling is high in cost;
Pop-up type PLHF 1 Advantages: the operation is flexible and the Most sea areas with soft requirement on the research vessel is low, sediments are applicable, Disadvantages: the equipment is relatively and the requirements for complicated in composition structure and has higher the research vessel and requirements for system reliability; and the sensitivity the operation sea and response speed of the sensors are plain. conditions are low.
ROV-based LTMS Advantages: simple structure and high operation The research vessel success ratio, and the core component of the needs to be provided with equipment is reusable. an underwater robot with a Disadvantages: the size and weight are relatively certain carrying capability.
large, resulting in lower comprehensive operation efficiency and higher cost of the remotely operated vehicle; and the sensor sensitivity and the response speed are normal.
Table 1 briefly describes the characteristics and applicabilities of the three types of long-term seafloor heat flow monitoring systems as described above, and from Table 1. it can be seen that each type of equipment has respective advantages and disadvantages as well as applicabilities, and meanwhile undergoes different restriction conditions. The long-term seafloor heat flow monitoring equipment is developed towards the directions of wider application range, higher success ratio and efficiency, better temperature measurement sensitivity, portability, compactness and the like.
With the development of science and technology and the upgrade and popularization of offshore operation equipment, the operation of shipborne underwater robots has become mature gradually and is undergoing rapid popularization. The underwater robots are classified into shipborne ROVs (remotely operated vehicles), AUVs (autonomous underwater vehicles) and manned submersible vehicles, and they have the functions of real-time image transmission and robot arm operation and the like during underwater operation, thereby bringing giant convenience to the seafloor heat flow probing and greatly improving the reliability and success ratio in the heat flow operation. In future heat flow investigations, underwater robots will play an increasingly important role, and developing heat flow equipment based on underwater robots will also be a development trend.
Summary of the Invention With respect to the defects in the prior art, the objective of the present invention is to provide a long-term seafloor heat flow monitoring probe based on an underwater robot working platform, which structurally consists of a support probe lance and a plurality of self-contained temperature measurement units; the sensor packaging probe heads less than 5mm in diameter are in close contact with the sediments on the seafloor, therefore, the sensors are faster in response speed to the sediment temperature variation and have better accuracy.
To achieve the objective as described above, the present invention employs a technical solution as follows:
A long-term seafloor heat flow monitoring probe based on an underwater robot platform, comprising a support probe lance and a plurality of self-contained temperature measurement units available for long-term seafloor heat flow monitoring for more than 1 year, wherein the plurality of self-contained temperature measurement units are fixed on the support probe lance at equal intervals in a spiral distribution to form a distributed multi-point temperature measurement structure for long-term monitoring of temperature fluctuations of seafloor sediments at different depths; the upper portion of the support probe lance is a gripping handle, and the lower portion of the support probe lance is a fixing tube in fixed connection with the gripping handle; each self-contained temperature measurement unit comprises a casing, a battery, a temperature measurement circuit board, a sensor packaging probe head and a temperature sensor, wherein both the battery and the temperature measurement circuit board are
5 installed in the casing, the temperature sensor is installed in the sensor packaging probe head and electrically connected with the temperature measurement circuit board, and the sensor packaging probe head is fixed with the casing through a thread; and during long-term monitoring work for the seafloor heat flow, an underwater robot grips the gripping handle through a robot arm so that the fixing tube is inserted into sediments at the bottom of seawater, with the gripping handle left in the seawater, the sensor packaging probe head of one of the self-contained temperature measurement units is disposed upward for long-term measurement of bottom water temperature fluctuations on a seafloor, and the sensor packaging probe heads of the self-contained temperature measurement units remaining are disposed downward for long-term measurement of geothermal gradients.
The temperature sensors are installed in the sensor packaging probe heads, which are less than 5mm in diameter to allow the sensors to come into close contact with the seafloor sediments and to be able to sense the temperature variation of the sediments quickly and correctly; and a plurality of miniaturized temperature measurement units are spirally arranged on the support probe lance at certain intervals, with the sensor packaging probe heads facing downwards to ensure that the tip probe head of each temperature measurement unit can always come into contact with the sediments undisturbed during the probe insertion process, thereby maximally guaranteeing the authenticity of the heat flow in-situ measurement of the sediments.
The self-contained temperature measurement units are installed on the support probe lance through U-shaped fasteners. The number and arrangement interval of the self-contained temperature measurement units can be adjusted flexibly for long-term monitoring of the temperature fluctuation of the seafloor sediments at different depths. Each temperature measurement unit works independently in a self-container manner to form a distributed multi-point temperature measurement structure, so that the damage of any one of the self-contained temperature measurement units will not influence the normal measurement work of other temperature measurement units. The self-contained temperature units have good interchangeability and universality to facilitate the dismounting and maintenance of the equipment, which is extremely advantageous to the practical operation of marine equipment.
The temperature measurement circuit board in each of the self-contained temperature measurement units comprises a power module, a temperature measurement module, an attitude measurement module, a single-chip computer and a storage module, wherein the battery supplies power to the temperature measurement module and the attitude measurement module respectively after undergoing voltage conversion performed by the power module; data collected by both the temperature measurement module and the attitude measurement module is processed by the single-chip computer and stored by the storage module; and the single-chip computer is communicated with an upper computer through a communication interface module.
The power module as well as the temperature measurement module, the attitude measurement module, and the storage module are all electrically connected with a MOS tube therebetween; a grid electrode of each MOS tube is respectively connected with the output end of the single-chip machine; a drain electrode of each MOS tube is connected to the corresponding power module; a source electrode of each MOS tube is respectively connected to the power module as well as the temperature measurement module and the attitude measurement module.
The temperature sensors are installed in the sensor packaging probe heads, which are less than 5mm in diameter to allow the sensors to come into close contact with the seafloor sediments and to be able to sense the temperature variation of the sediments quickly and correctly; and a plurality of miniaturized temperature measurement units are spirally arranged on the support probe lance at certain intervals, with the sensor packaging probe heads facing downwards to ensure that the tip probe head of each temperature measurement unit can always come into contact with the sediments undisturbed during the probe insertion process, thereby maximally guaranteeing the authenticity of the heat flow in-situ measurement of the sediments.
The self-contained temperature measurement units are installed on the support probe lance through U-shaped fasteners. The number and arrangement interval of the self-contained temperature measurement units can be adjusted flexibly for long-term monitoring of the temperature fluctuation of the seafloor sediments at different depths. Each temperature measurement unit works independently in a self-container manner to form a distributed multi-point temperature measurement structure, so that the damage of any one of the self-contained temperature measurement units will not influence the normal measurement work of other temperature measurement units. The self-contained temperature units have good interchangeability and universality to facilitate the dismounting and maintenance of the equipment, which is extremely advantageous to the practical operation of marine equipment.
The temperature measurement circuit board in each of the self-contained temperature measurement units comprises a power module, a temperature measurement module, an attitude measurement module, a single-chip computer and a storage module, wherein the battery supplies power to the temperature measurement module and the attitude measurement module respectively after undergoing voltage conversion performed by the power module; data collected by both the temperature measurement module and the attitude measurement module is processed by the single-chip computer and stored by the storage module; and the single-chip computer is communicated with an upper computer through a communication interface module.
The power module as well as the temperature measurement module, the attitude measurement module, and the storage module are all electrically connected with a MOS tube therebetween; a grid electrode of each MOS tube is respectively connected with the output end of the single-chip machine; a drain electrode of each MOS tube is connected to the corresponding power module; a source electrode of each MOS tube is respectively connected to the power module as well as the temperature measurement module and the attitude measurement module.
6
7 Each temperature measurement module comprises a reference voltage source U1 and an analog to digital converter; the input end of the reference voltage source U1 is connected with the power module;
the output end of the reference voltage source U1 is connected with the positive reference end of the analog to digital converter through a resistor R3; one end of the temperature sensor and the negative input end of the analog to digital converter are both grounded; the other end of the temperature sensor is connected to a portion between the resistor R3 and the positive reference end through a resistor R2; the negative reference end and the positive input end of the analog to digital converter are both connected to a portion between the resistor R2 and the temperature sensor; the output end of the analog to digital converter is connected with the single-chip computer; two ends of the temperature sensor are connected with a first capacitor in parallel therebetween; the output end and the grounding end of the reference voltage source U1 are connected with a second capacitor in series therebetween; and the input end and the grounding end of the reference voltage source U1 are connected with a third capacitor in series therebetween.
The attitude measurement module is a three-axis acceleration sensor HAAM-313B, three-axis output ends of which are respectively connected with three input ends of the single-chip computer, and a connecting wire between the attitude measurement module and the single-chip computer is connected with a filter capacitor having one end grounded.
The single-chip computer is STM8L151G.
Two-wire system serial communication between each of the self-contained temperature measurement units and the upper computer is implemented through the casing;
the casing comprises a first metal casing with an open hole at the lower end, and a second metal casing is filled in the open hole;
the second metal casing and the first metal casing are fixed there between through a plastic casing; the grounding end of the temperature measurement circuit board is connected on the first metal casing through a first electric wire; an RX/TX port of the single-chip computer is connected to the second metal casing through a second electric wire; and during communication with the upper computer, the first metal casing and the second metal casing are connected with the upper computer through a third electric wire and a fourth electric wire respectively.
The support probe lance has an overall length less than 1m, a total weight less than 3kg and 8kg respectively in water and air, and a maximum operating water depth of 3000m;
the number of the self-contained temperature measurement units is 4 to 5; the sensor packaging probe heads are all disposed downwards; and the distance between two adjacent sensor packaging probe heads is 20cm to 25cm.
Each of the self-contained temperature measurement units has an outer diameter less than 2cm, a length less than 22cm, and a weight less than 0.3kg and 0.5 kg respectively in water and air.
The present invention relates to a long-term seafloor heat flow monitoring probe based on an underwater robot working platform, which is mainly used to acquire a long-term fluctuation law of a temperature profile of the seafloor sediments in sea areas with larger bottom water temperature fluctuations, eliminate influences of the bottom water temperature fluctuations to the temperature fluctuations of the seafloor sediments and finally acquire reliable seafloor geothermal parameters (geothermal gradient, seafloor heat flow and thermophysical property of the seafloor sediments). The
the output end of the reference voltage source U1 is connected with the positive reference end of the analog to digital converter through a resistor R3; one end of the temperature sensor and the negative input end of the analog to digital converter are both grounded; the other end of the temperature sensor is connected to a portion between the resistor R3 and the positive reference end through a resistor R2; the negative reference end and the positive input end of the analog to digital converter are both connected to a portion between the resistor R2 and the temperature sensor; the output end of the analog to digital converter is connected with the single-chip computer; two ends of the temperature sensor are connected with a first capacitor in parallel therebetween; the output end and the grounding end of the reference voltage source U1 are connected with a second capacitor in series therebetween; and the input end and the grounding end of the reference voltage source U1 are connected with a third capacitor in series therebetween.
The attitude measurement module is a three-axis acceleration sensor HAAM-313B, three-axis output ends of which are respectively connected with three input ends of the single-chip computer, and a connecting wire between the attitude measurement module and the single-chip computer is connected with a filter capacitor having one end grounded.
The single-chip computer is STM8L151G.
Two-wire system serial communication between each of the self-contained temperature measurement units and the upper computer is implemented through the casing;
the casing comprises a first metal casing with an open hole at the lower end, and a second metal casing is filled in the open hole;
the second metal casing and the first metal casing are fixed there between through a plastic casing; the grounding end of the temperature measurement circuit board is connected on the first metal casing through a first electric wire; an RX/TX port of the single-chip computer is connected to the second metal casing through a second electric wire; and during communication with the upper computer, the first metal casing and the second metal casing are connected with the upper computer through a third electric wire and a fourth electric wire respectively.
The support probe lance has an overall length less than 1m, a total weight less than 3kg and 8kg respectively in water and air, and a maximum operating water depth of 3000m;
the number of the self-contained temperature measurement units is 4 to 5; the sensor packaging probe heads are all disposed downwards; and the distance between two adjacent sensor packaging probe heads is 20cm to 25cm.
Each of the self-contained temperature measurement units has an outer diameter less than 2cm, a length less than 22cm, and a weight less than 0.3kg and 0.5 kg respectively in water and air.
The present invention relates to a long-term seafloor heat flow monitoring probe based on an underwater robot working platform, which is mainly used to acquire a long-term fluctuation law of a temperature profile of the seafloor sediments in sea areas with larger bottom water temperature fluctuations, eliminate influences of the bottom water temperature fluctuations to the temperature fluctuations of the seafloor sediments and finally acquire reliable seafloor geothermal parameters (geothermal gradient, seafloor heat flow and thermophysical property of the seafloor sediments). The
8 probe mainly consists of a support probe lance and a plurality of self-contained temperature measurement units and may conduct long-term heat flow monitoring for more than one year. The probe is deployed and recovered relying on the underwater robot, has the characteristics of operation flexibility, high operation success ratio, authenticity and reliability in temperature measurement of sediments, portability and the like, and can do a very good job in serving seafloor heat flow probing. Meanwhile, the self-contained temperature measurement units, as the core components of the probe, can be applied to not only the long-term monitoring of seafloor in-situ heat flow, but also long-term temperature measurements in many occasions such as continental and deep-sea drilling and environment monitoring, thereby having a broad application prospect.
Compared with the prior art, the present invention has the following advantageous effects:
1) the probe provided by the present invention has a concise structure and is portable and light, thereby being very suitable for underwater robots to work with; and compared with the pop-up type heat flow monitoring equipment, the present invention has higher reliability during seafloor probing;
2) the temperature sensors in the present invention are packaged in the sensor packaging probe heads having a diameter less than 5mm, thereby being able to come into close contact with the seafloor sediments and sensing the temperature variation of the sediments quickly and correctly; and meanwhile, the self-contained temperature measurement units are installed in a spiral manner, guaranteeing that each temperature sensor can come into contact with the sediments undisturbed;
and the two characteristics maximally guarantee the rapidness and accuracy in the temperature measurement of the sediments;
3) the plurality of self-contained temperature measurement units independently work in a self-contained manner to form a distributed multi-point temperature measurement structure for long-term monitoring of temperature fluctuations of the seafloor sediments at different depths, thereby being able to eliminate the influences from the bottom water temperature fluctuations to finally obtain reliable background geothermal parameters, and moreover, the self-contained temperature measurement units are interchangeable after being calibrated, thereby facilitating replacement and maintenance; and meanwhile, the self-contained temperature measurement units may also be applied to long-term temperature measurement in many occasions such as continental and deep-sea drilling and environment monitoring, thereby having a broad application prospect;
4) the self-contained temperature measurement units have the property of low power consumption and a programmable sampling interval of is to 1h for temperature measurement, and may continuously work for more than one year on the seafloor under the circumstances that the sampling interval is not more than 10min;
5) the temperature measurement channels (the number of the self-contained temperature measurement units) and the temperature measurement interval in the probe provided by the present invention can be adjusted flexibly, and the self-contained temperature measurement units are interchangeable and universal, thereby facilitating maintenance and assembly of the equipment;
6) the probe has an overall length less than 1m, a total weight less than 3kg in water and less than 8kg in air, and a maximum operating water depth of more than 3000m; and the number of temperature measurement channels is 4 to 5, and the probe heads are spaced 20cm to 25cm apart, thereby realizing
Compared with the prior art, the present invention has the following advantageous effects:
1) the probe provided by the present invention has a concise structure and is portable and light, thereby being very suitable for underwater robots to work with; and compared with the pop-up type heat flow monitoring equipment, the present invention has higher reliability during seafloor probing;
2) the temperature sensors in the present invention are packaged in the sensor packaging probe heads having a diameter less than 5mm, thereby being able to come into close contact with the seafloor sediments and sensing the temperature variation of the sediments quickly and correctly; and meanwhile, the self-contained temperature measurement units are installed in a spiral manner, guaranteeing that each temperature sensor can come into contact with the sediments undisturbed;
and the two characteristics maximally guarantee the rapidness and accuracy in the temperature measurement of the sediments;
3) the plurality of self-contained temperature measurement units independently work in a self-contained manner to form a distributed multi-point temperature measurement structure for long-term monitoring of temperature fluctuations of the seafloor sediments at different depths, thereby being able to eliminate the influences from the bottom water temperature fluctuations to finally obtain reliable background geothermal parameters, and moreover, the self-contained temperature measurement units are interchangeable after being calibrated, thereby facilitating replacement and maintenance; and meanwhile, the self-contained temperature measurement units may also be applied to long-term temperature measurement in many occasions such as continental and deep-sea drilling and environment monitoring, thereby having a broad application prospect;
4) the self-contained temperature measurement units have the property of low power consumption and a programmable sampling interval of is to 1h for temperature measurement, and may continuously work for more than one year on the seafloor under the circumstances that the sampling interval is not more than 10min;
5) the temperature measurement channels (the number of the self-contained temperature measurement units) and the temperature measurement interval in the probe provided by the present invention can be adjusted flexibly, and the self-contained temperature measurement units are interchangeable and universal, thereby facilitating maintenance and assembly of the equipment;
6) the probe has an overall length less than 1m, a total weight less than 3kg in water and less than 8kg in air, and a maximum operating water depth of more than 3000m; and the number of temperature measurement channels is 4 to 5, and the probe heads are spaced 20cm to 25cm apart, thereby realizing
9 flexible adjustment; and 7) the self-contained temperature measurement units are less than 2cm in outer diameter and less than 22cm in length, with the sensor packaging probe heads being less than 5mm in diameter and weighing less than 0.5kg in air and less than 0.3kg in water, thereby achieving tiny size and portability;
and the self-contained temperature measurement units are less than 1mK in temperature measurement resolution, less than 5mK/year in long-term drift in temperature measurement, and superior to 5mK in channel consistency.
Brief Description of the Drawings FIG. 1 is a temperature-time section of sediments in a shallow sea area of the Nankai trough, wherein (a) shows the original temperature fluctuation records of the sediments at different depths; and (b) shows the temperature distribution of the sediments after the bottom water temperature fluctuations are eliminated; CHI is the temperature measurement channel for the most shallow layer, and CH7 is the temperature measurement channel for the deepest layer.
FIG. 2 is a structural schematic diagram of drilling-type long-term seafloor heat flow monitoring equipment.
FIG. 3. is a structural schematic diagram of pop-up type long-term seafloor heat flow monitoring equipment.
FIG 4 is an ROV-based long-term seafloor heat flow monitoring system.
FIG. 5 is a structural schematic diagram of a long-term seafloor heat flow monitoring probe based on an underwater robot working platform of the present invention.
FIG. 6 is an enlarged view of a zone A shown in FIG 5.
FIG 7 is a structural schematic diagram in case of seafloor operation of the present invention.
FIG. 8 is a structural schematic diagram of a self-contained temperature measurement unit.
FIG. 9 is an elementary circuit diagram of a temperature measurement circuit board.
FIG 10 is an elementary diagram of power management of a temperature measurement circuit board.
FIG. 11 is an elementary circuit diagram of temperature and attitude measurement modules.
FIG. 12 is an elementary communication diagram of self-contained temperature measurement units and an upper computer.
Reference signs are as follows: 10. support probe lance; 11. gripping handle;
12. fixing tube; 20.
self-contained temperature measurement unit; 21. temperature sensor; 22.
sensor packaging probe head; 23. temperature measurement circuit board; 231. power module; 232.
temperature measurement module; 233. attitude measurement module; 234. single-chip computer; 235.
storage module; 236.
communication interface module; 237. upper computer; 24. battery; 25. casing;
251. first metal casing;
252. plastic casing; 253. second metal casing; 30. U-shaped fastener; 100.
seawater; 200. sediments;
300. underwater robot; and 400. robot arm.
Description of the Preferred Embodiments The present invention will be further described below with reference to specific embodiments.
With reference to FIG. 5 and FIG 6, a long-term seafloor heat flow monitoring probe based on an underwater robot working platform mainly consists of a support probe lance 10 and a plurality of self-contained temperature measurement units 20 structurally.
The support probe lance 10 made of a rigid plastic material is mainly used for fixing the plurality of 5 self-contained temperature measurement units 20, and is inserted into the seafloor by the gripping of the underwater robot 300. The upper portion of the support probe lance 10 is a gripping handle 11 made from a nylon handle having a diameter of 60mm and a length about 200mm, thereby facilitating the gripping of the robot arm 400 of the underwater robot 300, and effectively reducing the weight of the probe simultaneously; and the lower portion of the support probe lance 10 is a fixing tube 12 made from
and the self-contained temperature measurement units are less than 1mK in temperature measurement resolution, less than 5mK/year in long-term drift in temperature measurement, and superior to 5mK in channel consistency.
Brief Description of the Drawings FIG. 1 is a temperature-time section of sediments in a shallow sea area of the Nankai trough, wherein (a) shows the original temperature fluctuation records of the sediments at different depths; and (b) shows the temperature distribution of the sediments after the bottom water temperature fluctuations are eliminated; CHI is the temperature measurement channel for the most shallow layer, and CH7 is the temperature measurement channel for the deepest layer.
FIG. 2 is a structural schematic diagram of drilling-type long-term seafloor heat flow monitoring equipment.
FIG. 3. is a structural schematic diagram of pop-up type long-term seafloor heat flow monitoring equipment.
FIG 4 is an ROV-based long-term seafloor heat flow monitoring system.
FIG. 5 is a structural schematic diagram of a long-term seafloor heat flow monitoring probe based on an underwater robot working platform of the present invention.
FIG. 6 is an enlarged view of a zone A shown in FIG 5.
FIG 7 is a structural schematic diagram in case of seafloor operation of the present invention.
FIG. 8 is a structural schematic diagram of a self-contained temperature measurement unit.
FIG. 9 is an elementary circuit diagram of a temperature measurement circuit board.
FIG 10 is an elementary diagram of power management of a temperature measurement circuit board.
FIG. 11 is an elementary circuit diagram of temperature and attitude measurement modules.
FIG. 12 is an elementary communication diagram of self-contained temperature measurement units and an upper computer.
Reference signs are as follows: 10. support probe lance; 11. gripping handle;
12. fixing tube; 20.
self-contained temperature measurement unit; 21. temperature sensor; 22.
sensor packaging probe head; 23. temperature measurement circuit board; 231. power module; 232.
temperature measurement module; 233. attitude measurement module; 234. single-chip computer; 235.
storage module; 236.
communication interface module; 237. upper computer; 24. battery; 25. casing;
251. first metal casing;
252. plastic casing; 253. second metal casing; 30. U-shaped fastener; 100.
seawater; 200. sediments;
300. underwater robot; and 400. robot arm.
Description of the Preferred Embodiments The present invention will be further described below with reference to specific embodiments.
With reference to FIG. 5 and FIG 6, a long-term seafloor heat flow monitoring probe based on an underwater robot working platform mainly consists of a support probe lance 10 and a plurality of self-contained temperature measurement units 20 structurally.
The support probe lance 10 made of a rigid plastic material is mainly used for fixing the plurality of 5 self-contained temperature measurement units 20, and is inserted into the seafloor by the gripping of the underwater robot 300. The upper portion of the support probe lance 10 is a gripping handle 11 made from a nylon handle having a diameter of 60mm and a length about 200mm, thereby facilitating the gripping of the robot arm 400 of the underwater robot 300, and effectively reducing the weight of the probe simultaneously; and the lower portion of the support probe lance 10 is a fixing tube 12 made from
10 a rigid plastic lance or an anti-corrosion metal tube with a diameter about 20mm and a length about 800mm, which is used for fixing the self-contained temperature measurement units 20 and is inserted into the sediments while being prevented from corrosion and damage caused by the seawater.
The self-contained temperature measurement units 20 are fixed on the support probe lance 10 through U-shaped fasteners 30. The plurality of self-contained temperature measurement units 20 are spirally installed along the support probe lance 10 at equal intervals, and can be flexibly adjusted in number and interval for long-term measurement of geothermal gradients and bottom water temperature, and data obtained is processed to possibly calculate the accurate background geothermal information.
The sensor packaging probe heads 22 face downwards to ensure that the sensor packaging probe head 22 at the tip of each self-contained temperature measurement unit 20 can always come into contact with the sediments undisturbed, thereby maximally guaranteeing the authenticity of the heat flow measurement of the sediments. This feature is an advantage that is not possessed by the forgoing long-term heat flow monitoring equipment.
With reference to FIG. 7, when used for long-term seafloor heat flow monitoring, the underwater robot 300 grips the gripping handle 11 through the robot arm 400 so that the fixing tube 12 is inserted into the sediments 200 at the bottom of the seawater 100, with the gripping handle 11 left in the seawater 100.
With reference to FIG. 8, each of the self-contained temperature measurement units 20 has independent functions of temperature collection, data storage and the like, and consists of an anti-corrosion metal casing 25, a battery 4, a temperature measurement circuit board 23, a sensor packaging probe head 22 and a temperature sensor 21. Therein, both the battery 24 and the temperature measurement circuit board 23 are installed in the casing 25; the sensor packaging probe head 22 is fixed at the lower side of the casing 25; the temperature sensor 21 is installed in the sensor packaging probe head 22 and is electrically connected with the temperature measurement circuit board 23; and the end portion of the sensor packaging probe head 22, far away from the casing has 25, is less than 5mm in diameter.
Each self-contained temperature measurement unit 20 has a tiny size and is limited in carrying capacity for the battery 24, therefore, the low power consumption property of a circuit is the principal element restricting its service life. To allow the temperature measurement units to work for more than one year continuously at the seafloor, the designed circuit is less than 10uA
in static power consumption, less than 5mA in dynamic power consumption and less than 2s in dynamic working time. In terms of a
The self-contained temperature measurement units 20 are fixed on the support probe lance 10 through U-shaped fasteners 30. The plurality of self-contained temperature measurement units 20 are spirally installed along the support probe lance 10 at equal intervals, and can be flexibly adjusted in number and interval for long-term measurement of geothermal gradients and bottom water temperature, and data obtained is processed to possibly calculate the accurate background geothermal information.
The sensor packaging probe heads 22 face downwards to ensure that the sensor packaging probe head 22 at the tip of each self-contained temperature measurement unit 20 can always come into contact with the sediments undisturbed, thereby maximally guaranteeing the authenticity of the heat flow measurement of the sediments. This feature is an advantage that is not possessed by the forgoing long-term heat flow monitoring equipment.
With reference to FIG. 7, when used for long-term seafloor heat flow monitoring, the underwater robot 300 grips the gripping handle 11 through the robot arm 400 so that the fixing tube 12 is inserted into the sediments 200 at the bottom of the seawater 100, with the gripping handle 11 left in the seawater 100.
With reference to FIG. 8, each of the self-contained temperature measurement units 20 has independent functions of temperature collection, data storage and the like, and consists of an anti-corrosion metal casing 25, a battery 4, a temperature measurement circuit board 23, a sensor packaging probe head 22 and a temperature sensor 21. Therein, both the battery 24 and the temperature measurement circuit board 23 are installed in the casing 25; the sensor packaging probe head 22 is fixed at the lower side of the casing 25; the temperature sensor 21 is installed in the sensor packaging probe head 22 and is electrically connected with the temperature measurement circuit board 23; and the end portion of the sensor packaging probe head 22, far away from the casing has 25, is less than 5mm in diameter.
Each self-contained temperature measurement unit 20 has a tiny size and is limited in carrying capacity for the battery 24, therefore, the low power consumption property of a circuit is the principal element restricting its service life. To allow the temperature measurement units to work for more than one year continuously at the seafloor, the designed circuit is less than 10uA
in static power consumption, less than 5mA in dynamic power consumption and less than 2s in dynamic working time. In terms of a
11 sampling frequency of every 10 min, the mean power consumption in one sampling period is:
1=(10uA*(10*60s-2s)+5mA*2s)/10*60s=26uA. The maximum capacity of the battery employed in the allowable space is 800mAh; and in view of the low discharge rate and self-discharge effect of the battery in a seafloor low temperature environment, the electric quantity that can be discharged by the battery in the seafloor is approximately 600mAh, and the possible continuous working time of a temperature measurement circuit is t=600mAh/0.026mA/24h/365d=2.6 years.
The long-term seafloor heat flow monitoring probe based on the underwater robot working platform involved in the present invention has the following main design indexes:
(1) the number of the self-contained temperature measurement units 20 is 4 to 5, with a probe head interval of 20cm to 25cm, therein, 3 to 4 self-contained temperature measurement units 20 are used for measuring geothermal gradients at an interval of 250mm, and 1 self-contained temperature measurement unit 20 is used for measuring bottom water temperature fluctuations, and the sensor packaging probe heads 22 thereof are placed close to the seafloor. The self-contained temperature measurement units 20 can be adjusted flexibly in number and arrangement interval as required, and meanwhile are interchangeable, thereby facilitating installation and maintenance;
(2) the self-contained temperature measurement units 20 are less than 2cm in outer diameter and less than 22cm in length, with the sensor packaging probe heads being less than 5mm in diameter and weighing less than 0.5kg in air and less than 0.3kg in water, thereby achieving tiny size and portability;
(3) the resolution is less than 1mK, the long-term drift in temperature measurement is less than 5mK/year and the channel consistency is superior to 5mK;
(4) the sampling interval for temperature measurement is changeable from Is to 1h, and the continuous working time on the seafloor is more than one year under the circumstances that the sampling interval is not more than 10min;
(5) the probe has an overall length less than lm, a total weight less than 3kg in water and less than 8kg in air, and an operating water depth of more than 3000m; the whole set of the probe is concise in overall structure and has an open connection design that facilitates assembling, dismounting, and adjusting of the number and interval of the temperature measurement channels;
and with small size and light weight, the probe is very suitable for an underwater robot to carry and work with, and this is an advantage that is not possessed by the forgoing LTMS and PLHF equipment.
The temperature measurement circuit board 23 employs a circuit theory as shown in FIG. 9, and mainly comprises the following modules: a single-chip computer 234 as a master control module, a temperature measurement module 232, an attitude measurement module 233, a power module 231, a storage module 235 and a communication interface module 236, and the specific embodiment of each circuit module based on a low power consumption design is as follows:
o Power module 231. As the electric property of a common electronic element, the lower the power voltage (within a reasonable range), the lower the consumed current is, therefore, it is helpful to save electric energy by supplying lower power voltage to the circuit. Taken together, a circuit employing a working voltage of 3.0V not only meets the power requirements of all devices but also guarantees the signal to noise ratio of the analog signal as much as possible.
In the case that the batteries 24 have the same size, the battery with the lowest rated output voltage
1=(10uA*(10*60s-2s)+5mA*2s)/10*60s=26uA. The maximum capacity of the battery employed in the allowable space is 800mAh; and in view of the low discharge rate and self-discharge effect of the battery in a seafloor low temperature environment, the electric quantity that can be discharged by the battery in the seafloor is approximately 600mAh, and the possible continuous working time of a temperature measurement circuit is t=600mAh/0.026mA/24h/365d=2.6 years.
The long-term seafloor heat flow monitoring probe based on the underwater robot working platform involved in the present invention has the following main design indexes:
(1) the number of the self-contained temperature measurement units 20 is 4 to 5, with a probe head interval of 20cm to 25cm, therein, 3 to 4 self-contained temperature measurement units 20 are used for measuring geothermal gradients at an interval of 250mm, and 1 self-contained temperature measurement unit 20 is used for measuring bottom water temperature fluctuations, and the sensor packaging probe heads 22 thereof are placed close to the seafloor. The self-contained temperature measurement units 20 can be adjusted flexibly in number and arrangement interval as required, and meanwhile are interchangeable, thereby facilitating installation and maintenance;
(2) the self-contained temperature measurement units 20 are less than 2cm in outer diameter and less than 22cm in length, with the sensor packaging probe heads being less than 5mm in diameter and weighing less than 0.5kg in air and less than 0.3kg in water, thereby achieving tiny size and portability;
(3) the resolution is less than 1mK, the long-term drift in temperature measurement is less than 5mK/year and the channel consistency is superior to 5mK;
(4) the sampling interval for temperature measurement is changeable from Is to 1h, and the continuous working time on the seafloor is more than one year under the circumstances that the sampling interval is not more than 10min;
(5) the probe has an overall length less than lm, a total weight less than 3kg in water and less than 8kg in air, and an operating water depth of more than 3000m; the whole set of the probe is concise in overall structure and has an open connection design that facilitates assembling, dismounting, and adjusting of the number and interval of the temperature measurement channels;
and with small size and light weight, the probe is very suitable for an underwater robot to carry and work with, and this is an advantage that is not possessed by the forgoing LTMS and PLHF equipment.
The temperature measurement circuit board 23 employs a circuit theory as shown in FIG. 9, and mainly comprises the following modules: a single-chip computer 234 as a master control module, a temperature measurement module 232, an attitude measurement module 233, a power module 231, a storage module 235 and a communication interface module 236, and the specific embodiment of each circuit module based on a low power consumption design is as follows:
o Power module 231. As the electric property of a common electronic element, the lower the power voltage (within a reasonable range), the lower the consumed current is, therefore, it is helpful to save electric energy by supplying lower power voltage to the circuit. Taken together, a circuit employing a working voltage of 3.0V not only meets the power requirements of all devices but also guarantees the signal to noise ratio of the analog signal as much as possible.
In the case that the batteries 24 have the same size, the battery with the lowest rated output voltage
12 has a higher capacity, and thus has a longer service life, therefore, a lithium ion battery with an output voltage of 3.7V is employed in this design, which has the nominal capacity of 800mAh and the actual discharge quantity of about 600mAh; and the lithium ion battery is subjected to voltage conversion performed by the power module 231 to producing a working voltage of 3.0V.
In the actual long-term seafloor heat flow monitoring, the circuit is in the sleep mode most of the time, and in case of long-term accumulation of micro static currents, quite a lot of electric energy is still wasted. Therefore, to maximally reduce static power consumption, it is necessary to implement modular power management for the circuit, and implement portioned time-sharing power supply under the control of the single-chip computer 234.
As shown in FIG. 10, the power modules for different functional modules (i.e.
the temperature measurement module 232, the attitude measurement module 233 and the storage module 235) in the circuit are all independent, and each power supply is connected with a P-channel MOS tube in series to realize each power supply being able to be switched on or off independently under the control of an I/0 port of the corresponding single-chip computer. When the circuit is in the sleep state, the respective power supplies of the temperature measurement module 232, the attitude measurement module 233 and the storage module 235 can be switched off, and at this point, these circuits basically consume no current, thereby realizing minimal static power consumption.
z Single-chip computer 234. During the working process of the self-contained temperature measurement units 20, the single-chip computer 234 needs to possess the following functions and peripheral resources: synchronous serial communication (SPI) for data collection, asynchronous serial communication (UART) for data and command transmission, an analog to digital converter for battery voltage monitoring and attitude monitoring, a timing counter for precise time delay, a real time clock (RTC), a plurality of I/O pins for external input interruption and power management, and at least 1KByte of volatile random access memory (RAM). Therefore, it is necessary to choose a single-chip computer with a higher level of integration and simultaneously take the low power consumption property thereof into consideration.
A single-chip computer STM8L151 is employed in this design. Besides the hardware functions as described above, the single-chip computer also has multiple low power consumption modes. Since the temperature measurement units are in the sleep state most of the time when working in the seafloor, the application of the low power consumption mode can largely reduce the static power consumption of the temperature measurement units during sleeping.
Temperature measurement module 232 and attitude measurement module 233.
As shown in the elementary diagram in FIG. 11, to improve the temperature measurement precision, a low-noise reference voltage source U1 (with a model of ADR380) is employed in each temperature measurement module 232 to provide current excitation to a platinum resistance sensor Pt1000 (i.e. the temperature sensor 21). The input end of the reference voltage source U1 is connected with the power module 231; the output end of the reference voltage source U1 is connected with the positive reference end of the analog to digital converter through a resistor R3; one end of the temperature sensor 21 and the negative input end of the analog to digital converter are both grounded;
the other end of the temperature sensor 21 is connected to a portion between the resistor R3 and the positive reference end
In the actual long-term seafloor heat flow monitoring, the circuit is in the sleep mode most of the time, and in case of long-term accumulation of micro static currents, quite a lot of electric energy is still wasted. Therefore, to maximally reduce static power consumption, it is necessary to implement modular power management for the circuit, and implement portioned time-sharing power supply under the control of the single-chip computer 234.
As shown in FIG. 10, the power modules for different functional modules (i.e.
the temperature measurement module 232, the attitude measurement module 233 and the storage module 235) in the circuit are all independent, and each power supply is connected with a P-channel MOS tube in series to realize each power supply being able to be switched on or off independently under the control of an I/0 port of the corresponding single-chip computer. When the circuit is in the sleep state, the respective power supplies of the temperature measurement module 232, the attitude measurement module 233 and the storage module 235 can be switched off, and at this point, these circuits basically consume no current, thereby realizing minimal static power consumption.
z Single-chip computer 234. During the working process of the self-contained temperature measurement units 20, the single-chip computer 234 needs to possess the following functions and peripheral resources: synchronous serial communication (SPI) for data collection, asynchronous serial communication (UART) for data and command transmission, an analog to digital converter for battery voltage monitoring and attitude monitoring, a timing counter for precise time delay, a real time clock (RTC), a plurality of I/O pins for external input interruption and power management, and at least 1KByte of volatile random access memory (RAM). Therefore, it is necessary to choose a single-chip computer with a higher level of integration and simultaneously take the low power consumption property thereof into consideration.
A single-chip computer STM8L151 is employed in this design. Besides the hardware functions as described above, the single-chip computer also has multiple low power consumption modes. Since the temperature measurement units are in the sleep state most of the time when working in the seafloor, the application of the low power consumption mode can largely reduce the static power consumption of the temperature measurement units during sleeping.
Temperature measurement module 232 and attitude measurement module 233.
As shown in the elementary diagram in FIG. 11, to improve the temperature measurement precision, a low-noise reference voltage source U1 (with a model of ADR380) is employed in each temperature measurement module 232 to provide current excitation to a platinum resistance sensor Pt1000 (i.e. the temperature sensor 21). The input end of the reference voltage source U1 is connected with the power module 231; the output end of the reference voltage source U1 is connected with the positive reference end of the analog to digital converter through a resistor R3; one end of the temperature sensor 21 and the negative input end of the analog to digital converter are both grounded;
the other end of the temperature sensor 21 is connected to a portion between the resistor R3 and the positive reference end
13 through a resistor R2; the negative reference end and the positive input end of the analog to digital converter are both connected to a portion between the resistor R2 and the temperature sensor 21; the output end of the analog to digital converter is connected with the single-chip computer 234; two ends of the temperature sensor 21 are connected with a first capacitor in parallel therebetween; the output end and the grounding end of the reference voltage source U1 are connected with a second capacitor in series therebetween; and the input end and the grounding end of the reference voltage source U1 are connected with a third capacitor in series therebetween. The resistor R3 plays the role of current limiting, and under its action, the working current of the platinum resistance sensor Pt1000 is about 0.2mA, allowing it to have a higher signal to noise ratio and reducing the power consumption of the circuit. Since each platinum resistance sensor Pt1000 and the corresponding temperature measurement circuit board 23 are both packaged in the corresponding self-contained temperature measurement unit 20, the output impedance of the platinum resistance sensor Pt1000 is small, and due to the shield effect of the metal casing, a signal is less susceptible to external disturbances, therefore, the voltage follower commonly used in a signal conditioning circuit can be omitted, and the output signal of the platinum resistance sensor Pt1000 is directly fed into the AD converter, thereby reducing the power consumption of the circuit with the use of IC.
In each attitude measurement module 233, by making full use of the feature that the single-chip computer 234 is internally provided with a multi-channel AD converter, an attitude sensor HAAM-313B
for outputting an analog signal is employed, and three axes of attitudes signals x, y and z are directly fed into the AD inside the single-chip computer after being filtered. These measures can simplify the circuit composition and reduce the power consumption while guaranteeing the measurement precision.
Communication circuit. Each temperature measurement circuit board 23 is installed in a cabin body of a stainless steel pressure casing 25, and is in serial communication with the upper computer through the metal casing without opening the cabin (as shown in FIG. 12).
Specifically, each casing 25 comprises a first metal casing 251 with an open hole at the lower end, and a second metal casing 253 that is filled in the open hole and is not in contact with the first metal casing 251; the second metal casing 253 and the first metal casing 251 are fixed therebetween through a plastic casing 252; this communication circuit makes full use of the unique hardware half duplex serial function (UART) of the single-chip computer STM8 to directly connect an RYJTX pin and a circuit GND
of the single-chip computer onto contact points of the second metal casing 253 and the first metal casing 251 through electric wires respectively; and the second metal casing 253 is connected with the upper computer 237 through a third electric wire; and two-wire system serial communication is realized by writing a communication protocol corresponding to the upper computer. In this communication circuit, it is unnecessary to conduct long-distance and high-speed communication, therefore, a serial chip does not need to be added for communication signal conversion, thereby eliminating electric energy loss caused by a common serial communication circuit.
0 Storage circuit. A ferroelectric memory FM25V20 is employed for the storage circuit. The ferroelectric memory (FRAM) is a new-generation storage medium and combines the advantages of the nonvolatile data storage property of ROM and infinite reading/writing, high-speed reading/writing and the like of RAM together, and it is particularly important that it refreshes the minimum working current (less
In each attitude measurement module 233, by making full use of the feature that the single-chip computer 234 is internally provided with a multi-channel AD converter, an attitude sensor HAAM-313B
for outputting an analog signal is employed, and three axes of attitudes signals x, y and z are directly fed into the AD inside the single-chip computer after being filtered. These measures can simplify the circuit composition and reduce the power consumption while guaranteeing the measurement precision.
Communication circuit. Each temperature measurement circuit board 23 is installed in a cabin body of a stainless steel pressure casing 25, and is in serial communication with the upper computer through the metal casing without opening the cabin (as shown in FIG. 12).
Specifically, each casing 25 comprises a first metal casing 251 with an open hole at the lower end, and a second metal casing 253 that is filled in the open hole and is not in contact with the first metal casing 251; the second metal casing 253 and the first metal casing 251 are fixed therebetween through a plastic casing 252; this communication circuit makes full use of the unique hardware half duplex serial function (UART) of the single-chip computer STM8 to directly connect an RYJTX pin and a circuit GND
of the single-chip computer onto contact points of the second metal casing 253 and the first metal casing 251 through electric wires respectively; and the second metal casing 253 is connected with the upper computer 237 through a third electric wire; and two-wire system serial communication is realized by writing a communication protocol corresponding to the upper computer. In this communication circuit, it is unnecessary to conduct long-distance and high-speed communication, therefore, a serial chip does not need to be added for communication signal conversion, thereby eliminating electric energy loss caused by a common serial communication circuit.
0 Storage circuit. A ferroelectric memory FM25V20 is employed for the storage circuit. The ferroelectric memory (FRAM) is a new-generation storage medium and combines the advantages of the nonvolatile data storage property of ROM and infinite reading/writing, high-speed reading/writing and the like of RAM together, and it is particularly important that it refreshes the minimum working current (less
14 than lmA during reading/writing operation) of the current leading storage chip. FM25V20 has a storage space of 2MB and can store a data volume of 24 months at the sampling rate of every 10 min. Two units of FM25V20 are employed in the storage circuit to enlarge the storage space, and can store a data volume of more than 3 years.
In addition, it is also possible to reduce the power consumption by optimizing the storage program, i.e. the single-chip computer accumulates the data collected each time in the internal RAM until the RAM
is almost full, and then writes the data collected a plurality of times into the memory once. In this way, for the same data volume, less memory operation time is only needed in one-time writing compared with multiple writing.
In the probe of the present invention, the plurality of self-contained temperature measurement units independently work in a self-contained manner and are interchangeable after being calibrated, thereby facilitating replacement and maintenance; and meanwhile, the self-contained temperature measurement units 20 may also be applied to long-term temperature measurement in many occasions such as continental and deep-sea drilling and environment monitoring, thereby having a broad
In addition, it is also possible to reduce the power consumption by optimizing the storage program, i.e. the single-chip computer accumulates the data collected each time in the internal RAM until the RAM
is almost full, and then writes the data collected a plurality of times into the memory once. In this way, for the same data volume, less memory operation time is only needed in one-time writing compared with multiple writing.
In the probe of the present invention, the plurality of self-contained temperature measurement units independently work in a self-contained manner and are interchangeable after being calibrated, thereby facilitating replacement and maintenance; and meanwhile, the self-contained temperature measurement units 20 may also be applied to long-term temperature measurement in many occasions such as continental and deep-sea drilling and environment monitoring, thereby having a broad
15 application range. (It should be pointed out here that there are many types of long-term temperature measurement equipment for the fields of drilling, environment monitoring and the like as described above at present, however, the self-contained temperature measurement units 20 involved in the probe provided by the present invention have corresponding long-term temperature measurement performances and appearance conditions, and thus can be broadened in the application range in the 20 fields as described above.) The detailed description as outlined above is a specific description with respect to the feasible embodiments of the present invention, these embodiments are not intended to limit the patent scope of the present invention, and any equivalent implementations or variations made without departing from the present invention shall be encompassed in the patent scope of the present case.
Claims (7)
1. A long-term seafloor heat flow monitoring probe based on an underwater robot platform, comprising a support probe lance (10) and a plurality of self-contained temperature measurement units (20) available for long-term seafloor heat flow monitoring for more than 1 year, wherein the plurality of self-contained temperature measurement units (20) are fixed on the support probe lance (10) at equal intervals in a spiral distribution to form a distributed multi-point temperature measurement structure for long-term monitoring of temperature fluctuations of seafloor sediments at different depths; the upper portion of the support probe lance (10) is a gripping handle (11), and the lower portion of the support probe lance (10) is a fixing tube (12) in fixed connection with the gripping handle (11); each self-contained temperature measurement unit (20) comprises a casing (25), a battery (24), a temperature measurement circuit board (23), a sensor packaging probe head (22) and a temperature sensor (21), wherein both the battery (24) and the temperature measurement circuit board (23) are installed in the casing (25), the temperature sensor (21) is installed in the sensor packaging probe head (22) and electrically connected with the temperature measurement circuit board (23), and the sensor packaging probe head (22) is fixed with the casing (25) through a thread; and during long-term monitoring work for the seafloor heat flow, an underwater robot (300) grips the gripping handle (11) through a robot arm (400) so that the fixing tube (12) is inserted into sediments (200) at the bottom of seawater (100), with the gripping handle (11) left in the seawater (100), the sensor packaging probe head (22) of one of the self-contained temperature measurement units (20) is disposed upward for long-term measurement of bottom water temperature fluctuations on a seafloor, and the sensor packaging probe heads (22) of the self-contained temperature measurement units (20) remaining are disposed downward for long-term measurement of geothermal gradients.
2. The long-term seafloor heat flow monitoring probe based on the underwater robot platform according to claim 1, wherein the self-contained temperature measurement units (20) are installed on the support probe lance (10) through U-shaped fasteners (30).
3. The long-term seafloor heat flow monitoring probe based on the underwater robot platform according to claim 1, wherein the diameter of each sensor packaging probe head (22) is less than 5mm to allow the sensors to come into close contact with the seafloor sediments.
4. The long-term seafloor heat flow monitoring probe based on the underwater robot platform according to claim 1, wherein the temperature measurement circuit board (23) in each of the self-contained temperature measurement units (20) comprises a power module (231), a temperature measurement module (232), an attitude measurement module (233), a single-chip computer (234) and a storage module (235), wherein the battery (24) supplies power to the temperature measurement module (232) and the attitude measurement module (233) respectively after undergoing voltage conversion performed by the power module (231); data collected by both the temperature measurement module (232) and the attitude measurement module (233) is processed by the single-chip computer (234) and stored by the storage module (235); and the single-chip computer (234) is communicated with an upper computer (237) through a communication interface module (236).
5. The long-term seafloor heat flow monitoring probe based on the underwater robot platform according to claim 4, wherein two-wire system serial communication between each self-contained temperature measurement unit (20) and the upper computer (237) is implemented through the casing;
the casing (25) comprises a first metal casing (251) with an open hole at the lower end, and a second metal casing (253) filled in the open hole; the second metal casing (253) and the first metal casing (251) are fixed therebetween through a plastic casing (252); a grounding end of the temperature measurement circuit board (23) is connected to the first metal casing (251) through a first electric wire; an RX/TX port of the single-chip computer (234) is connected to the second metal casing (253) through a second electric wire; and during communication with the upper computer (237), the first metal casing (251) and the second metal casing (253) are connected with the upper computer (237) through a third electric wire and a fourth electric wire respectively.
the casing (25) comprises a first metal casing (251) with an open hole at the lower end, and a second metal casing (253) filled in the open hole; the second metal casing (253) and the first metal casing (251) are fixed therebetween through a plastic casing (252); a grounding end of the temperature measurement circuit board (23) is connected to the first metal casing (251) through a first electric wire; an RX/TX port of the single-chip computer (234) is connected to the second metal casing (253) through a second electric wire; and during communication with the upper computer (237), the first metal casing (251) and the second metal casing (253) are connected with the upper computer (237) through a third electric wire and a fourth electric wire respectively.
6. The long-term seafloor heat flow monitoring probe based on the underwater robot platform according to claim 4, wherein the support probe lance (10) has an overall length less than lm, a total weight less than 3kg and 8kg respectively in water and in air, and a maximum operating water depth of 3000m; the number of the self-contained temperature measurement units (20) is 4 to 5; and a distance between two adjacent sensor packaging probe heads (22) is 20cm to 25cm.
7. The long-term seafloor heat flow monitoring probe based on the underwater robot platform according to claim 6, wherein each of the self-contained temperature measurement units (20) has an outer diameter less than 2cm, a length less than 22cm, and a weight less than 0.3k9 and 0.5 kg respectively in water and in air.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510299825.2A CN104950344A (en) | 2015-06-03 | 2015-06-03 | Seabed heat flow long-term observation probe based on underwater robot platform |
| CN201510299825.2 | 2015-06-03 | ||
| PCT/CN2015/099582 WO2016192390A1 (en) | 2015-06-03 | 2015-12-29 | Subsea heat flow long-term observation probe based on underwater robot platform |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CA2946611A1 CA2946611A1 (en) | 2016-12-03 |
| CA2946611C true CA2946611C (en) | 2018-07-31 |
Family
ID=57406809
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CA2946611A Expired - Fee Related CA2946611C (en) | 2015-06-03 | 2015-12-29 | Long-term seafloor heat flow monitoring probe based on underwater robot platform |
Country Status (1)
| Country | Link |
|---|---|
| CA (1) | CA2946611C (en) |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106981166A (en) * | 2017-05-25 | 2017-07-25 | 欧阳培光 | A kind of network intelligence photoelectric smoke detecting alarm control system and its control method |
| CN110375887A (en) * | 2019-07-27 | 2019-10-25 | 浙江华源通冶金科技有限公司 | A kind of metallurgical smelting area whole process Intelligent unattended metal-like thermometric takes sample presentation system |
| CN112129932B (en) * | 2020-09-11 | 2022-11-08 | 中国科学院海洋研究所 | Method for quantifying intertidal zone biological stress level |
| CN112504765A (en) * | 2020-10-20 | 2021-03-16 | 自然资源部第二海洋研究所 | Device and method for collecting submarine hydrothermal solution nozzle particles |
| CN114109359B (en) * | 2021-11-16 | 2022-06-17 | 广州海洋地质调查局 | Application method of sea-bottom hydrate reservoir vertical content distribution accurate evaluation device |
| CN114705322B (en) * | 2022-06-07 | 2022-09-30 | 海南浙江大学研究院 | Temperature chain and method of use thereof |
-
2015
- 2015-12-29 CA CA2946611A patent/CA2946611C/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| CA2946611A1 (en) | 2016-12-03 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CA2946611C (en) | Long-term seafloor heat flow monitoring probe based on underwater robot platform | |
| WO2016192390A1 (en) | Subsea heat flow long-term observation probe based on underwater robot platform | |
| CN106404222B (en) | The deep section detection system of ocean temperature based on combined type high precision measuring temperature cable | |
| CN101846644B (en) | Oil and gas pipeline corrosion online monitor | |
| US8825430B2 (en) | Differential pressure systems and methods for measuring hydraulic parameters across surface water-aquifer interfaces | |
| CN105043442B (en) | The self-tolerant underwater sound, hydrographic data synchronous acquisition device, system and method | |
| CN106198375A (en) | A kind of deep-sea multichannel corrosion electrochemistry in-situ testing device and method of testing thereof | |
| Hart et al. | A wireless multi-sensor subglacial probe: design and preliminary results | |
| CN105783885A (en) | Acoustic Doppler current meter | |
| CN104390884A (en) | Automatic Arctic sea ice density measuring device | |
| Wright et al. | Low-cost Internet of Things ocean observation | |
| CN200943488Y (en) | Storage type continuous metering downhole meter for pressure and temperature | |
| CN108132292B (en) | Deep sea in-situ electrochemical testing device capable of realizing remote data transmission and implementation method | |
| CN108362369A (en) | A kind of self-tolerant single channel ocean acoustic signal measurement apparatus having synchronizing function | |
| CN205506859U (en) | Acoustics doppler current meter | |
| CN207007229U (en) | Ocean offshore Big Dipper remote measurement tidal observation device | |
| CN104062692B (en) | High-precision seabed terrestrial heat flow detection device | |
| Schmitt et al. | A fast response, stable CTD for gliders and AUVs | |
| CN104251744A (en) | Bottom-water temperature detection method | |
| CN108871413A (en) | Water water level and water temperature detection device on a kind of extremely frigid zones frozen soil layer | |
| CN106768458A (en) | A kind of deep water temperature measuring set | |
| CN201757647U (en) | Wave monitoring system for integration buoy | |
| CN111141330A (en) | Five-component marine natural gas hydrate intelligent sensing node | |
| CN204405108U (en) | From floatation type easily extensible multiparameter CTD detection instrument | |
| Ding et al. | Design and implementation of a sensors node oriented water quality monitoring in aquaculture |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| MKLA | Lapsed |
Effective date: 20211229 |