CN108519620B - Submarine seismic detection aircraft capable of being automatically distributed and recovered - Google Patents
Submarine seismic detection aircraft capable of being automatically distributed and recovered Download PDFInfo
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- CN108519620B CN108519620B CN201810754648.6A CN201810754648A CN108519620B CN 108519620 B CN108519620 B CN 108519620B CN 201810754648 A CN201810754648 A CN 201810754648A CN 108519620 B CN108519620 B CN 108519620B
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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
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
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Abstract
The invention relates to a submarine seismic wave detection aircraft capable of being distributed and recovered autonomously, which comprises a seismic wave detection and induction module, a multi-degree-of-freedom propulsion module, a communication module, a control management module and an energy supply module, wherein the multi-degree-of-freedom propulsion module is connected with the communication module; the seismic detection and induction module comprises a three-component acceleration detector, a hydrophone, an attitude sensor, an atomic clock and a depth detection and positioning module. The invention can detect the seismic waves and the sound waves of the sea bottom simultaneously, can more perfectly acquire the geographical information of the sea bottom, can communicate with the mother ship on the water surface in real time, can flexibly control the action of the sea bottom seismic wave detection navigation device, and can accurately distribute and recover by adopting the multi-degree-of-freedom propulsion module.
Description
Technical Field
The invention relates to an ocean bottom seismic wave detection navigation device capable of being automatically deployed and recovered.
Background
The seabed earthquake activity is very frequent, and the modern technology utilizes the seabed earthquake condition to obtain an earthquake source through an earthquake detection device so as to analyze the seabed earthquake activity rule and provide data for seabed geological structure analysis. The current ocean bottom earthquake monitoring device generally adopts distributed multi-point continuous observation, and the detection depth can reach 6000 meters. However, the conventional ocean bottom seismic exploration device needs to obtain a reasonable throwing position of the seismic detector through calculation, and once the ocean bottom seismic detector fails to reach an ideal ocean bottom position, the position is difficult to change, so that autonomous arrangement and accurate recovery cannot be performed. The existing submarine earthquake detector can not perform complex movement according to the instruction of the water surface mother ship, thereby greatly reducing the earthquake wave detection efficiency and wasting resources.
Disclosure of Invention
In view of the above, the present invention provides an autonomously deployable and retractable ocean bottom geophone vehicle that solves or partially solves the above-mentioned problems.
2. In order to achieve the effect of the technical scheme, the technical scheme of the invention is as follows: an ocean bottom geophone vehicle capable of autonomous deployment and recovery, comprising:
the system comprises a seismic detection and induction module, a multi-degree-of-freedom propulsion module, a communication module, a control management module and an energy supply module;
the earthquake detection and induction module comprises a three-component acceleration detector, a hydrophone, an attitude sensor, an atomic clock and a depth detection and positioning module; the three-component acceleration detector can detect the acceleration of seismic waves in two mutually vertical directions on a seabed horizontal plane, a horizontal plane coordinate system is established according to the two directions, the two directions are defined as an X axis and a Y axis respectively, the intersection point of the X axis and the Y axis is the origin of the horizontal plane, and the X axis is parallel to one side of the appearance of the aircraft; the three-component acceleration detector can detect the seismic wave acceleration of the seabed vertical to the horizontal plane direction, and establishes a Z axis by taking the origin of the horizontal plane as a starting point and the direction vertical to the horizontal plane as a direction; the earthquake detection and induction module transmits the obtained accelerations of the seabed in the X-axis, Y-axis and Z-axis directions to the control management module in real time; the hydrophone is used for receiving sound wave signals at the seabed by an aircraft, and converting the sound wave signals into electric signals to be transmitted to the control management module; the attitude sensor can sense the real-time motion acceleration of the X axis and the Y axis of the aircraft, the motion attitude measurement is carried out through the formula (1),
a in formula (1)xIs the real-time motion acceleration of the aircraft in the X-axis direction, axIs a rational number; a isyIs the real-time motion acceleration of the aircraft in the Y-axis direction, ayIs a rational number; lambda is an included angle between the X axis and the tangential direction of the magnetic meridian, and the value range is (0 degree, 360 degrees); theta is an included angle between the advancing direction of the horizontal plane of the aircraft and the tangential direction of the magnetic meridian, and the value range is (0 degree and 360 degrees); a isθAcceleration of the vehicle in the direction of travel in the horizontal plane, aθIs a rational number;
in the formula (1), the symbol is dot-by-dot;
outputting attitude data in real time according to a formula (1) to obtain the attitude of the aircraft, and transmitting the attitude information to a control management module; the atomic clock is used for accurately recording time and providing time information for the aircraft; the depth detection and positioning module can detect the water depth of the aircraft and the distance between the aircraft and the seabed in real time, and simultaneously provides the geographic position information of the aircraft through a GPS positioning technology;
the multi-degree-of-freedom propulsion module comprises 4 channel propeller thrusters I parallel to the X axis and 2 channel propeller thrusters II parallel to the Y axis; the channel propeller thruster is arranged around the aircraft and can provide forward and reverse thrust; the channel propeller II is arranged in the aircraft and can provide thrust perpendicular to the horizontal direction; the first channel propeller thruster and the second channel propeller thruster work simultaneously, so that steering torque can be provided, the aircraft can be pushed to steer, and the stability of the aircraft can be kept; the multi-degree-of-freedom propulsion module receives a control signal from the control management module to control the thrust of the channel propeller thruster I and the thrust of the channel propeller thruster II;
the communication module is connected with the control management module and is used for transmitting information with the mother ship on the water surface by using a wireless transmission technology;
the control management module is connected with the earthquake wave detection and induction module, the multi-degree-of-freedom propulsion module, the communication module, the energy supply module and the depth detection and positioning module; the control management module can receive information from the earthquake detection and induction module, the energy supply module, the depth detection and positioning module and information from the water surface mother ship of the communication module, and can transmit control signals to the multi-degree-of-freedom propulsion module and transmit information of an aircraft to the water surface mother ship through the communication module;
the energy supply module is provided with a battery pack and a battery standby system and is used for supplying energy to an aircraft;
the invention has the beneficial effects that: simultaneously, the system detects seismic waves and sound waves of the sea bottom, can more perfectly acquire the geographical information of the sea bottom, simultaneously carries out real-time communication with a surface mother ship, can flexibly control the action of a sea bottom seismic wave detection navigation device, and can accurately lay and recover by adopting a multi-degree-of-freedom propulsion module.
Detailed Description
In order to make the technical problems, technical solutions and advantageous effects to be solved by the present invention more apparent, the present invention is described in detail below with reference to the embodiments. It should be noted that the specific embodiments described herein are only for illustrating the present invention and are not to be construed as limiting the present invention, and products that can achieve the same functions are included in the scope of the present invention.
First embodiment primary ocean bottom seismic wave detection is performed
An autonomous deployment and retrieval ocean bottom geophone vehicle comprising: the system comprises a seismic detection and induction module, a multi-degree-of-freedom propulsion module, a communication module, a control management module and an energy supply module;
the earthquake detection and induction module comprises a three-component acceleration detector, a hydrophone, an attitude sensor, an atomic clock and a depth detection and positioning module;
according to the detection plan of the submarine seismic waves, enough energy is prepared, namely, the energy supply module is determined to be capable of meeting the normal work at this time; the primary water surface ship detects the approximate positions of the aircrafts for detecting the ocean bottom seismic waves according to the requirements, the primary water surface ship respectively drives to the positions, and an ocean bottom seismic wave detection aircraft is distributed at each position;
the aircraft begins sinking from the sea surface, an atomic clock and a depth detection and positioning module in the seismic detection and induction module begin to work, and the atomic clock is used for accurately recording time and providing time information for the aircraft; the depth detection and positioning module can detect the water depth of the aircraft and the distance between the aircraft and the seabed in real time, and simultaneously provides the geographic position information of the aircraft through a GPS positioning technology; the earthquake detection and induction module transmits the information to the control management module in real time, and the control management module transmits the information to the mother ship on the water surface in real time through the communication module; when the aircraft sinks to the seabed, the depth detection and positioning module in the seismic detection and induction module detects that the distance from the aircraft to the seabed is 0 in real time, and the information is transmitted to the surface mother ship through the control management module and the communication module;
at the moment, a three-component acceleration detector, a hydrophone and an attitude sensor in the seismic detection and induction module start to work, and an atomic clock and a depth detection and positioning module in the seismic detection and induction module also work simultaneously; the three-component acceleration detector can detect the acceleration of seismic waves in two mutually vertical directions on a seabed horizontal plane, a horizontal plane coordinate system is established according to the two directions, the two directions are defined as an X axis and a Y axis respectively, the intersection point of the X axis and the Y axis is the origin of the horizontal plane, and the X axis is parallel to one side of the appearance of the aircraft; the three-component acceleration detector can detect the seismic wave acceleration of the seabed vertical to the horizontal plane direction, and establishes a Z axis by taking the origin of the horizontal plane as a starting point and the direction vertical to the horizontal plane as a direction; the hydrophone is used for receiving the sound wave signals in water by the aircraft, converting the sound wave signals into electric signals and transmitting the electric signals to the control management module; the attitude sensor can sense real-time motion acceleration of an X axis and a Y axis of the aircraft, motion attitude measurement is carried out through formula calculation, and attitude data are output in real time to obtain the attitude of the aircraft; the earthquake detection and induction module transmits the information to the control management module in real time, and the control management module transmits the information to the mother ship on the water surface in real time through the communication module;
the mother ship on the water surface determines whether to change the position of the aircraft according to the information; if the change is needed, the mother ship sends a motion signal needed by the aircraft, the signal is transmitted to the control management module through the communication module, and the control management module provides steering torque by controlling the thrust of the first channel propeller thruster and the second channel propeller thruster in the multi-degree-of-freedom propulsion module, so that the aircraft is pushed to steer, and the stability of the aircraft is kept;
after the submarine seismic wave detection work is finished, the accurate geographic position of the aircraft can be obtained through a GPS positioning technology according to a depth detection and positioning module in the seismic wave detection and induction module, and the aircraft can be salvaged and recovered.
Claims (1)
1. An ocean bottom geophone vehicle capable of autonomous deployment and recovery, comprising:
the system comprises a seismic detection and induction module, a multi-degree-of-freedom propulsion module, a communication module, a control management module and an energy supply module;
the seismic detection and induction module comprises a three-component acceleration detector, a hydrophone, an attitude sensor, an atomic clock and a depth detection and positioning module; the three-component acceleration detector can detect seismic wave acceleration in two mutually vertical directions on a seabed horizontal plane, a horizontal plane coordinate system is established according to the two directions, the two directions are defined as an X axis and a Y axis respectively, the intersection point of the X axis and the Y axis is the origin of the horizontal plane, and the X axis is parallel to one side of the appearance of the aircraft; the three-component acceleration detector can detect the acceleration of seismic waves of the seabed vertical to the horizontal plane, and establishes a Z axis by taking the origin of the horizontal plane as a starting point and the direction vertical to the horizontal plane as a direction; the seismic wave detection and induction module transmits the obtained accelerations of the seabed in the X-axis, Y-axis and Z-axis directions to the control management module in real time; the hydrophone is used for receiving sound wave signals at the seabed of the aircraft, converting the sound wave signals into electric signals and transmitting the electric signals to the control management module; the attitude sensor can sense the real-time motion acceleration of the X axis and the Y axis of the aircraft, the motion attitude measurement is carried out through a formula (1),
a in formula (1)xIs the real-time acceleration of the vehicle in the direction of the X-axis, axIs a rational number; a isyIs the real-time motion acceleration of the aircraft in the Y-axis direction, ayIs a rational number; lambda is an included angle between the X axis and the tangential direction of the magnetic meridian, and the value range is (0 degree, 360 degrees); theta is an included angle between the advancing direction of the horizontal plane of the aircraft and the tangential direction of the magnetic meridian, and the value range is (0 degree and 360 degrees); a isθAcceleration of said vehicle in the direction of travel in the horizontal plane, aθIs a rational number;
in the formula (1), the symbol is dot-by-dot;
outputting attitude data in real time according to a formula (1) to obtain the attitude of the aircraft, and transmitting the attitude information to the control management module; the atomic clock is used for accurately recording time and providing time information for the aircraft; the depth detection and positioning module can detect the water depth of the aircraft and the distance between the aircraft and the seabed in real time, and simultaneously provides the geographic position information of the aircraft through a GPS positioning technology;
the multi-degree-of-freedom propulsion module comprises 4 first channel propeller thrusters parallel to the X axis and 2 second channel propeller thrusters parallel to the Y axis; the channel propeller thruster is arranged around the aircraft and can provide forward and reverse thrust; the channel propeller II is arranged in the aircraft and can provide thrust perpendicular to the horizontal direction; the first channel propeller thruster and the second channel propeller thruster work simultaneously, so that steering torque can be provided, the aircraft can be pushed to steer, and the stability of the aircraft can be kept; the multi-degree-of-freedom propulsion module receives a control signal from the control management module to control the thrust of the first channel propeller thruster and the second channel propeller thruster;
the communication module is connected with the control management module and is used for transmitting information with the mother ship on the water surface by using a wireless transmission technology;
the control management module is connected with the seismic wave detection and induction module, the multi-degree-of-freedom propulsion module, the communication module, the energy supply module and the depth detection and positioning module; the control management module can receive information from the seismic detection and induction module, the energy supply module, the depth detection and positioning module and information from the communication module on the surface of the mother ship, and can transmit control signals to the multi-degree-of-freedom propulsion module and transmit information of the aircraft to the surface of the mother ship through the communication module;
the energy supply module is provided with a battery pack and a battery backup system and supplies energy to the aircraft; at the moment, a three-component acceleration detector, a hydrophone and an attitude sensor in the seismic demodulation and induction module start to work, and an atomic clock and a depth detection and positioning module in the seismic demodulation and induction module also work simultaneously; the three-component acceleration detector can detect seismic wave acceleration in two mutually vertical directions on a seabed horizontal plane, a horizontal plane coordinate system is established in the two mutually vertical directions, the two mutually vertical directions are defined as an X axis and a Y axis respectively, the intersection point of the X axis and the Y axis is the origin of the horizontal plane, and the X axis is parallel to one side of the appearance of the aircraft; the three-component acceleration detector can detect the seismic wave acceleration of the seabed vertical to the horizontal plane direction, and establishes a Z axis by taking the origin of the horizontal plane as a starting point and the direction vertical to the horizontal plane as a direction; the hydrophone is used for receiving the sound wave signals in water by the aircraft, converting the sound wave signals into electric signals and transmitting the electric signals to the control management module; the attitude sensor can sense real-time motion acceleration of an X axis and a Y axis of the aircraft, motion attitude measurement is carried out through formula calculation, and attitude data are output in real time to obtain the attitude of the aircraft; the earthquake detection and induction module transmits information to the control management module in real time, and the control management module transmits the information to the water surface mother ship in real time through the communication module;
the mother ship on the water surface determines whether the aircraft changes the position or not according to the information; if the change is needed, the surface mother ship sends a motion signal needed by the aircraft, the motion signal is transmitted to the control management module through the communication module, and the control management module provides steering torque by controlling the thrust of the channel propeller thruster I and the channel propeller thruster II in the multi-degree-of-freedom propulsion module, so that the aircraft is pushed to steer, and meanwhile, the stability of the aircraft is kept;
after the submarine seismic wave detection work is finished, the accurate geographic position of the aircraft can be obtained through a GPS positioning technology according to a depth detection and positioning module in the seismic wave detection and induction module, and the aircraft can be salvaged and recovered.
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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 |
| CN113391343A (en) * | 2021-06-11 | 2021-09-14 | 中油奥博(成都)科技有限公司 | Submarine optical fiber four-component seismic instrument system and data acquisition method thereof |
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| CN206696442U (en) * | 2017-03-16 | 2017-12-01 | 中国石油天然气集团公司 | Marine seismic acquisition system |
| CN207096469U (en) * | 2017-07-17 | 2018-03-13 | 国家深海基地管理中心 | A kind of submarine earthquake detection device |
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| CN107933857A (en) * | 2017-11-21 | 2018-04-20 | 北京臻迪科技股份有限公司 | A kind of multifreedom motion underwater units |
| CN108037534A (en) * | 2017-12-27 | 2018-05-15 | 国家深海基地管理中心 | A kind of underwater sound array apparatus based on underwater movable platform |
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| US7167413B1 (en) * | 2006-05-01 | 2007-01-23 | Input/Output | Towed streamer deghosting |
| CN102829777B (en) * | 2012-09-10 | 2015-09-16 | 江苏科技大学 | Autonomous underwater vehicle combined navigation system and method |
| US20140251199A1 (en) * | 2013-02-06 | 2014-09-11 | Cgg Services Sa | Jet-pump-based autonomous underwater vehicle and method for coupling to ocean bottom during marine seismic survey |
| CN107539475B (en) * | 2017-08-03 | 2019-11-26 | 上海海事大学 | A kind of sky water is dwelt the control method of aircraft more |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN206696442U (en) * | 2017-03-16 | 2017-12-01 | 中国石油天然气集团公司 | Marine seismic acquisition system |
| CN207164263U (en) * | 2017-06-05 | 2018-03-30 | 广州海洋地质调查局 | A kind of interactive multiband ocean bottom seismic data reception device |
| CN207096469U (en) * | 2017-07-17 | 2018-03-13 | 国家深海基地管理中心 | A kind of submarine earthquake detection device |
| CN107933857A (en) * | 2017-11-21 | 2018-04-20 | 北京臻迪科技股份有限公司 | A kind of multifreedom motion underwater units |
| CN108037534A (en) * | 2017-12-27 | 2018-05-15 | 国家深海基地管理中心 | A kind of underwater sound array apparatus based on underwater movable platform |
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