CN108519620A - A kind of submarine earthquake detection aircraft that can independently lay recycling - Google Patents
A kind of submarine earthquake detection aircraft that can independently lay recycling Download PDFInfo
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- CN108519620A CN108519620A CN201810754648.6A CN201810754648A CN108519620A CN 108519620 A CN108519620 A CN 108519620A CN 201810754648 A CN201810754648 A CN 201810754648A CN 108519620 A CN108519620 A CN 108519620A
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- 238000001514 detection method Methods 0.000 title claims abstract description 50
- 238000004064 recycling Methods 0.000 title claims abstract description 10
- 230000001133 acceleration Effects 0.000 claims abstract description 27
- 230000006698 induction Effects 0.000 claims abstract description 21
- 238000004891 communication Methods 0.000 claims abstract description 18
- 238000005516 engineering process Methods 0.000 claims description 8
- 230000005540 biological transmission Effects 0.000 claims description 7
- 230000008054 signal transmission Effects 0.000 claims description 5
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 5
- 230000000386 athletic effect Effects 0.000 claims description 3
- 238000005259 measurement Methods 0.000 claims description 3
- 230000002123 temporal effect Effects 0.000 claims description 3
- 238000007689 inspection Methods 0.000 claims 1
- 230000000694 effects Effects 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000012806 monitoring device Methods 0.000 description 1
- 238000012916 structural analysis Methods 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V1/00—Seismology; Seismic or acoustic prospecting or detecting
- G01V1/38—Seismology; Seismic or acoustic prospecting or detecting specially adapted for water-covered areas
- G01V1/3843—Deployment of seismic devices, e.g. of streamers
- G01V1/3852—Deployment of seismic devices, e.g. of streamers to the seabed
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
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- Life Sciences & Earth Sciences (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Remote Sensing (AREA)
- Acoustics & Sound (AREA)
- Environmental & Geological Engineering (AREA)
- Geology (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Oceanography (AREA)
- Geophysics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Automation & Control Theory (AREA)
- Geophysics And Detection Of Objects (AREA)
Abstract
The present invention relates to a kind of submarine earthquake detection aircraft that can independently lay recycling, including seismic detection and induction module, multiple degrees of freedom propulsion die, communication module controls management module, power module；The seismic detection and induction module include three-component acceleration detector, hydrophone, attitude transducer, atomic clock, depth detection and locating module.The present invention detects the seismic wave and sound wave in seabed simultaneously, the geography information in seabed can be obtained more perfectly, real-time communication is carried out with surface mother ship simultaneously, the action of submarine earthquake detection aircraft can be neatly controlled, can accurately be laid and be recycled using multiple degrees of freedom propulsion die.
Description
Technical field
The present invention relates to a kind of submarine earthquake detection aircraft that can independently lay recycling.
Background technology
Submarine earthquake activity is very frequent, and modern technologies utilize the earthquake conditions in seabed, are obtained by earthquake detection apparatus
The seismic origin, and then analyze the laws of seismic activities in seabed, provide data for submarine structural analysis.Current submarine earthquake
Monitoring device generally uses distributed multiple spot continuous observation, and detection depth is up to 6000 meters.However common submarine earthquake is visited
Device is surveyed to need by rational seismic sensor placement position is calculated, once submarine earthquake detector fails reach ideal
Sub-sea location, general is difficult the change for carrying out position, to carry out independently arranging and accurate recycling.Existing seabed
Complicated movement can not be carried out according to the instruction of surface mother ship by shaking detector, greatly reduced the efficiency of seismic wave detection, wasted
Resource.
Invention content
In view of this, the present invention is with providing a kind of solution or the seabed that can independently lay recycling that solves the above problems of part
Shake detection aircraft.
2. to achieve the effect that above-mentioned technical proposal, the technical scheme is that：A kind of sea that can independently lay recycling
Bottom seismic detection aircraft, which is characterized in that including the following contents：
Seismic detection and induction module, multiple degrees of freedom propulsion die, communication module control management module, power module；
Seismic detection and induction module include three-component acceleration detector, hydrophone, attitude transducer, atomic clock, depth
Degree detection and locating module；Three-component acceleration detector can detect the ground of two mutually perpendicular directions on subsea horizontal face
Seismic wave acceleration establishes level coordinates system with the both direction, and it is respectively X-axis, Y-axis to define the both direction, X-axis and Y
The intersection point of axis is the origin of horizontal plane, and X-axis is parallel with one side of the shape of aircraft；Three-component acceleration detector, Neng Goujian
The seismic wave acceleration perpendicular to the seabed in horizontal plane direction is surveyed, it, should be perpendicular to horizontal plane using the origin of horizontal plane as starting point
Direction is direction, establishes Z axis；Seismic detection and induction module are real-time by obtained seabed X-axis, Y-axis, the acceleration of Z-direction
It is transferred to control management module；Hydrophone is converted into electricity for aircraft in ocean bottom receiver acoustic signals, while by acoustic signals
Signal transmission is to controlling management module；Attitude transducer can sense the real time kinematics acceleration of aircraft X-axis, Y-axis, pass through
Formula (1) carries out athletic posture measurement,
A in formula (1)xFor the real time kinematics acceleration of aircraft in X-direction, axFor rational；ayFor Y direction
The real time kinematics acceleration of upper aircraft, ayFor rational；λ is the angle of X-axis and the tangential direction of magnetic meridian, value range
For (0 °, 360 °)；θ is the angle of the direction of advance of aircraft horizontal plane and the tangential direction of magnetic meridian, and value range is
(0 °, 360 °)；aθFor acceleration of the aircraft in the direction of advance of horizontal plane, aθFor rational；
It is dot product symbol in formula (1)；
Attitude data is exported in real time according to formula (1), obtains the posture of aircraft, and the posture information is transmitted to control
Management module；Atomic clock provides temporal information accurately to record the time, for aircraft；Depth detection and locating module can
The distance of the depth of water and aircraft away from seabed of aircraft is detected in real time, while the ground of aircraft being provided by GPS positioning technology
Manage location information；
Multiple degrees of freedom propulsion die includes 4 conduit screw propellers one parallel with X-axis, 2 slots parallel with Y-axis
Road screw propeller two；Conduit screw propeller one is arranged in the surrounding of aircraft, it is possible to provide positive and negative two-way thrust；Slot
Road screw propeller two is arranged in the inside of aircraft, it is possible to provide perpendicular to the thrust of horizontal direction；Conduit propeller promotes
Device one is worked at the same time with conduit screw propeller two, can provide steering moment, pushes aircraft to turn to, while can keep
The stability of aircraft；Multiple degrees of freedom propulsion die receives the control signal from control management module, to control conduit spiral
The thrust size of paddle propeller one and conduit screw propeller two；
Communication module is connected with control management module, using Radio Transmission Technology, is transmitted into row information with surface mother ship；
Control management module and seismic detection and induction module, multiple degrees of freedom propulsion die, communication module, power module,
Depth detection and locating module are connected；Control management module can be received from seismic detection and induction module, power module, deep
Degree detects and the information of the information of locating module and the surface mother ship from communication module, while can give control signal transmission
Multiple degrees of freedom propulsion die and the information of aircraft is transmitted to surface mother ship by communication module；
Power module is equipped with battery pack and battery backup system, energy is provided for aircraft；
Beneficial effects of the present invention are：The seismic wave and sound wave for detecting seabed simultaneously, can obtain seabed more perfectly
Geography information, while with surface mother ship carry out real-time communication, can neatly control the action of submarine earthquake detection aircraft,
Can accurately it be laid and be recycled using multiple degrees of freedom propulsion die.
Specific implementation mode
In order to make technical problems, technical solutions and advantages to be solved be more clearly understood, tie below
Embodiment is closed, the present invention will be described in detail.It should be noted that specific embodiment described herein is only explaining
The present invention is not intended to limit the present invention, and can be realized that the product of said function belongs to equivalent replacement and improvement, is all contained in this hair
Within bright protection domain.
Embodiment one carries out a submarine earthquake wave detection
A kind of submarine earthquake detection aircraft that can independently lay recycling, including the following contents：Seismic detection and induction mould
Block, multiple degrees of freedom propulsion die, communication module control management module, power module；
Seismic detection and induction module include three-component acceleration detector, hydrophone, attitude transducer, atomic clock, depth
Degree detection and locating module；
According to the detection plan of this submarine earthquake wave, enough energy are got out, that is, determine that power module disclosure satisfy that
This time work normally；Surface mother ship detects the approximate location of the aircraft of submarine earthquake wave as needed, is travelled respectively to these
Position, each position lay a submarine earthquake detection aircraft；
Aircraft starts to sink from sea, the atomic clock and depth detection in seismic detection and induction module and positioning
Module is started to work, and atomic clock provides temporal information accurately to record the time, for aircraft；Depth detection and locating module
The distance of the depth of water and aircraft away from seabed of aircraft can be detected in real time, while providing aircraft by GPS positioning technology
Geographical location information；Above- mentioned information real-time Transmission is managed mould by seismic detection and induction module to management module, control is controlled
Block is by communication module by above- mentioned information real-time Transmission to surface mother ship；When aircraft sinks down into seabed, seismic detection at this time
With in induction module depth detection and locating module detect in real time distance of the aircraft away from seabed be 0, which passes through control
Management module processed, communication module have been transferred to surface mother ship；
Three-component acceleration detector in seismic detection and induction module at this time, hydrophone, attitude transducer start work
Make, the atomic clock and depth detection and locating module in seismic detection and induction module also work at the same time；Three-component acceleration is examined
Wave device can detect the seismic wave acceleration of two mutually perpendicular directions on subsea horizontal face, be established with the both direction horizontal
Areal coordinate system, and it is respectively X-axis, Y-axis to define the both direction, the intersection point of X-axis and Y-axis is the origin of horizontal plane, X-axis and navigation
One side of the shape of device is parallel；Three-component acceleration detector can detect the seismic wave in the seabed perpendicular to horizontal plane direction
Acceleration should be direction perpendicular to the direction of horizontal plane, and establish Z axis using the origin of horizontal plane as starting point；Hydrophone is for navigating by water
Device receives acoustic signals in water, while converting acoustic signals to electric signal transmission to controlling management module；Attitude transducer
The real time kinematics acceleration that can sense aircraft X-axis, Y-axis is calculated by formula and carries out athletic posture measurement, exported in real time
Attitude data obtains the posture of aircraft；Seismic detection and induction module by above- mentioned information real-time Transmission to controlling management module,
Management module is controlled by communication module by above- mentioned information real-time Transmission to surface mother ship；
Surface mother ship decides whether that aircraft is allowed to carry out position change according to above- mentioned information；If desired it is changed, then it is female
Ship sends aircraft and the motor message carried out, the signal is needed to be transmitted to control management module, control management by communication module
The thrust that module passes through control multiple degrees of freedom propulsion module conduit screw propeller one and conduit screw propeller two in the block
Size provides steering moment, pushes aircraft to turn to, while keeping the stability of aircraft；
When complete submarine earthquake wave detect work after, can according in seismic detection and induction module depth detection and positioning
Module is obtained the accurate geographical location of aircraft by GPS positioning technology, carries out salvaging recycling.
Claims (1)
1. a kind of submarine earthquake detection aircraft that can independently lay recycling, which is characterized in that including the following contents：
Seismic detection and induction module, multiple degrees of freedom propulsion die, communication module control management module, power module；
The seismic detection and induction module include three-component acceleration detector, hydrophone, attitude transducer, atomic clock, depth
Degree detection and locating module；The three-component acceleration detector can detect two mutually perpendicular directions on subsea horizontal face
Seismic wave acceleration, level coordinates system is established with the both direction, and it is respectively X-axis, Y-axis, X-axis to define the both direction
Intersection point with Y-axis is the origin of horizontal plane, and the X-axis is parallel with one side of the shape of the aircraft；The three-component accelerates
Wave detector is spent, the seismic wave acceleration perpendicular to the seabed in horizontal plane direction can be detected, it, should using the origin of horizontal plane as starting point
It is direction perpendicular to the direction of horizontal plane, establishes Z axis；The seismic detection and induction module are by obtained seabed X-axis, Y-axis, Z
The acceleration real-time Transmission of axis direction gives the control management module；The hydrophone is for the aircraft in ocean bottom receiver sound
Wave signal, while the acoustic signals are converted to electric signal transmission to the control management module；The attitude transducer energy
The real time kinematics acceleration for enough sensing the aircraft X-axis, Y-axis carries out athletic posture measurement by formula (1),
A in formula (1)xFor the real time kinematics acceleration of the aircraft in X-direction, axFor rational；ayFor Y direction
The real time kinematics acceleration of the upper aircraft, ayFor rational；λ is the angle of X-axis and the tangential direction of magnetic meridian, value
Ranging from (0 °, 360 °)；θ is the angle of the direction of advance of the aircraft horizontal plane and the tangential direction of magnetic meridian, value
Ranging from (0 °, 360 °)；aθFor acceleration of the aircraft in the direction of advance of horizontal plane, aθFor rational；
It is dot product symbol in formula (1)；
Attitude data is exported in real time according to formula (1), obtains the posture of the aircraft, and the posture information is transmitted to described
Control management module；The atomic clock provides temporal information accurately to record the time, for the aircraft；The depth inspection
Survey and locating module can detect the distance of the depth of water and the aircraft away from seabed of the aircraft in real time, pass through simultaneously
GPS positioning technology provides the geographical location information of the aircraft；
The multiple degrees of freedom propulsion die includes 4 conduit screw propellers one parallel with X-axis, 2 slots parallel with Y-axis
Road screw propeller two；The conduit screw propeller one is arranged in the surrounding of the aircraft, it is possible to provide positive and negative two-way
Thrust；The conduit screw propeller two is arranged in the inside of the aircraft, it is possible to provide perpendicular to pushing away for horizontal direction
Power；The conduit screw propeller one is worked at the same time with conduit screw propeller two, can provide steering moment, pushes boat
Row device turns to, while can keep the stability of aircraft；The multiple degrees of freedom propulsion die is received to be managed from the control
The control signal of module, to control the thrust size of the conduit screw propeller one and conduit screw propeller two；
The communication module is connected with the control management module, using Radio Transmission Technology, is passed into row information with surface mother ship
It passs；
The control management module and the seismic detection and induction module, the multiple degrees of freedom propulsion die, the communication mould
Block, the power module, the depth detection and locating module are connected；The control management module can be received from described
Shake detection and induction module, the power module and comes from the communication module at the information of the depth detection and locating module
Surface mother ship information, while can be by control signal transmission to the multiple degrees of freedom propulsion die and by the aircraft
Information is transmitted to surface mother ship by the communication module；
The power module is equipped with battery pack and battery backup system, energy is provided for the aircraft.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810754648.6A CN108519620B (en) | 2018-07-11 | 2018-07-11 | Submarine seismic detection aircraft capable of being automatically distributed and recovered |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810754648.6A CN108519620B (en) | 2018-07-11 | 2018-07-11 | Submarine seismic detection aircraft capable of being automatically distributed and recovered |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108519620A true CN108519620A (en) | 2018-09-11 |
| CN108519620B CN108519620B (en) | 2020-06-05 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201810754648.6A Expired - Fee Related CN108519620B (en) | 2018-07-11 | 2018-07-11 | Submarine seismic detection aircraft capable of being automatically distributed and recovered |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110539864A (en) * | 2019-09-17 | 2019-12-06 | 哈尔滨工程大学 | seabed flight node aircraft capable of resisting soil adsorption and working method |
| WO2022257429A1 (en) * | 2021-06-11 | 2022-12-15 | 中国石油集团东方地球物理勘探有限责任公司 | Submarine optical fiber four-component seismic instrument system and data collection method thereof |
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| CN110539864A (en) * | 2019-09-17 | 2019-12-06 | 哈尔滨工程大学 | seabed flight node aircraft capable of resisting soil adsorption and working method |
| WO2022257429A1 (en) * | 2021-06-11 | 2022-12-15 | 中国石油集团东方地球物理勘探有限责任公司 | Submarine optical fiber four-component seismic instrument system and data collection method thereof |
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| CN108519620B (en) | 2020-06-05 |
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