CN109579802B - Multistage injection type submarine sand wave in-situ observation device and method - Google Patents
Multistage injection type submarine sand wave in-situ observation device and method Download PDFInfo
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Abstract
A multi-stage injection type submarine sand wave in-situ observation device and a method thereof comprise a supporting structure, a three-stage injection mechanism, a multi-stage probe rod, a matched observation instrument and auxiliary equipment, wherein the auxiliary equipment is an auxiliary ship, a hoisting device and the like. The principle is that the probe rod is penetrated by a multi-stage penetration system which takes the penetration resistance change of a probe rod by sand wave bodies at different stages of sand wave migration as a trigger element, and equipment carried by the probe rod is used for carrying out in-situ observation on a penetration area to analyze the change of seabed environment elements in the sand wave migration process. The method comprises the implementation of a multi-stage penetration system. The invention provides a new observation idea for the in-situ real-time observation of the seabed sand wave migration, provides a new method for the penetration of medium and small seabed sand wave development areas, and has the characteristics of simple and easy equipment, wide applicable water area for in-situ real-time measurement and the like.
Description
Technical Field
The invention relates to a multistage penetration type submarine sand wave in-situ observation device and method, and belongs to the technical field of submarine observation and the field of marine engineering geology.
Background
The submarine sand wave is an intermittent submarine landform type with a long and narrow wave crest line perpendicular to the main water flow direction under the action of hydrodynamic force such as sea wave, tide and the like of land frame submarine sandy sediments. A large number of facts show that the existence and migration of submarine sand waves have great influence on the safety of submarine pipelines, the submarine pipelines are very easy to suspend or bury due to the migration of the sand waves, and the submarine pipelines are broken and failed in more serious cases, so that great threats are brought to economic safety and environmental safety, and the significance of observing and researching the submarine sand waves is great.
At present, the research data source of seabed sand wave migration is mainly acoustic instruments such as multi-beam repeated sounding and side scan sonar. A geophysical prospecting ship is sent out at intervals to carry out positioning water depth repeated measurement on acoustic instruments such as multi-beam and side-scan sonar for observing sea areas, and observation on sand wave migration is achieved through water depth change. A large amount of ship time is consumed, only time-discontinuous data is obtained, and in-situ real-time observation of the seabed sand waves cannot be realized. From the analysis of the retrieved public data, it was found that: an accurate detection method (patent number: CN2013103117430.1) for submarine large-scale complex sand wave landforms and a submarine sand wave landform movement detection method (patent number CN201310317429.9) based on MBES are used for detecting the migration of submarine sand waves by taking a high-resolution multi-beam sounding technology and a positioning system as core technologies. The observation mode is simple and easy to implement, but needs repeated measurement for many times, is discontinuous in time, cannot realize in-situ observation, and cannot accurately judge the specific condition of sand wave migration from discontinuous data. The device and the method for observing the submarine sand waves in situ in real time (publication number: CN 107631720A) and the device and the method for observing the submarine sand wave migration based on the pressure gauge (publication number: CN 107063196A) preliminarily design an observation scheme for observing the submarine sand waves in situ, but the observation of the longitudinal section of the submarine sand waves cannot be realized because the simple and effective penetration in a sandy seabed area cannot be solved.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a device and a method for observing multi-stage injection type seabed sand wave migration, so as to realize in-situ observation of the seabed sand wave migration.
Device structure
The multistage penetration type submarine sand wave in-situ observation device is characterized by comprising a supporting structure and a probe rod with a multistage penetration mechanism,
the supporting structure is used for supporting the probe rod to prevent the probe rod from overturning, a plurality of supporting legs are arranged at the bottom of the supporting structure, a plurality of cables are arranged at the top of the supporting structure, the upper end of each cable is connected to the outer side surface of the upper part of the probe rod, a rotary imaging sonar and a current meter are carried on the supporting structure, an annular control cabin made of corrosion-resistant materials is arranged in the middle of the supporting structure and surrounds the periphery of the probe rod, an acceleration sensor and an attitude sensor are arranged in the annular control cabin,
the middle part of the probe rod is a rod body, the bottom of the rod body is provided with a penetrating conical tip, the top of the rod body is provided with a release ring, the release ring is connected to the bottom of the acoustic releaser, the top of the acoustic releaser is connected with a cloth release cable, and the outer side of the upper part of the rod body is also provided with a counterweight cabin;
a plurality of annular grooves are formed in the outer side face of the upper portion of the rod body and serve as stress points for downward force application on the probe rod;
the counterweight cabin is provided with an acceleration sensor and an attitude sensor; in addition, the device also comprises a power supply, a main processor, a memory, a data acquisition circuit and a sensing circuit, wherein the components are arranged in the annular control cabin or the counterweight cabin;
the annular control cabin is connected with two Kevlar cables, the first Kevlar cable is connected with the counterweight cabin of the probe rod, and the second Kevlar cable is connected with the ejection releaser of the second-stage release device;
each acceleration sensor and each attitude sensor are respectively connected with the sensing circuit through Kevlar cables, and the data acquisition circuit and the sensing circuit are respectively connected with the main processor;
the first Kevlar cable is also connected with various detecting instruments arranged on the outer wall or inside the rod body through a wire positioned inside the resistivity probe rod, and the main processor controls the data acquisition circuit to acquire data observed by the detecting instruments;
the multi-stage injection mechanism comprises an acoustic releaser connected to the lower end of the laying cable, a second-stage injection device positioned above the annular control cabin and a third-stage injection device connected below the annular control cabin; the second-stage injection device and the third-stage injection device are all arranged around the periphery of the probe rod;
the second-stage injection device and the third-stage injection device are both composed of a guide pipe and an ejection releaser sleeved on the upper part of the guide pipe;
the ejection releaser comprises a tubular body, an annular table is arranged on the upper edge of the tubular body, an energy storage pressure spring is arranged on the lower end face of the annular table, and a connecting rod is arranged on the lower portion of the inner wall of the annular table and is controlled by a relay switch to contract; the relay switch is arranged in the tubular body, is powered by the annular control cabin and is controlled by the main processor;
a groove is formed in the outer side of the upper part of the guide pipe, the guide pipe is fixed to the lower part of the annular table by the connecting rod extending into the groove, and the lower end of the energy storage pressure spring is pressed on the upper edge of the guide pipe;
when the relay switch is switched on, the connecting rod is retracted into the groove of the release pipe, and the energy storage pressure spring pushes the guide pipe downwards to release;
the lower edge of the guide pipe is provided with a plurality of guide blocks, each guide block is connected to the lower end of the guide pipe through a rotating shaft and can rotate around the shaft to the inside of the guide pipe until reaching the horizontal position, the upper side of the outer end of each guide block is arc-shaped, and the lower side of the outer end of each guide block is a plane;
the lower side plane of the outer end of the guide block is connected with one end of a pressure spring, and the other end of the pressure spring is connected to the guide pipe and provides elastic force capable of rotating upwards for the guide block; when the probe rod moves downwards, the guide block is provided with an arc-shaped outer end face, so that the probe rod cannot be blocked, when the probe rod is limited in penetration, the ejection releaser releases the guide tube downwards and provides a downward pushing force, the guide tube moves downwards relative to the probe rod, the guide block rotates upwards under the action of the pressure spring and enters an annular groove in the outer side of the probe rod, and the lower end face of the guide block pushes the probe rod to move downwards by taking the annular groove as a force application point.
The supporting structure comprises a supporting frame, the bottom of the supporting frame is provided with three or more than three supporting legs which are distributed at equal intervals, the bottoms of the supporting legs are provided with supporting conical tips, and the annular control cabin is arranged in the middle of the bottom surface of the supporting frame; the rotational galvanometer and the rotational imaging sonar are also mounted on a support frame.
And a support plate with a counterweight plate is arranged between the support leg and the support cone tip.
The supporting structure also comprises a supporting steel bar, the annular platform is supported by the supporting steel bar, and the secondary penetration device is supported above the annular control cabin.
Principle of operation
The injection principle is that effective injection aiming at a small and medium-sized submarine sand wave terrain development area is realized by means of an injection system divided into three stages and an acceleration sensor and an attitude sensor which are arranged in the probe rod. After the supporting plate is bottomed, the multistage penetration system triggers the first-stage gravity penetration system, and the release device releases the probe rod. The probe rod is downwards penetrated under the self-weight action of the probe rod and the counterweight plate and the constraint action of the two-stage guide pipes of the second-stage penetration system and the third-stage penetration system. If along with the continuous migration of sand wave, if take place the sand wave trough and move to the body of rod gradually, the body of rod awl point reduces for the sand wave surface penetration depth, and the body of rod produces under the action of gravity and slides, and acceleration sensor records the body of rod and triggers second grade injection system when producing the displacement of subsiding once more after the first grade injection, third grade injection system is controlled by acceleration sensor's displacement control and settlement time jointly, triggers when the displacement once more after taking place the second grade injection in settlement time or when reaching the settlement time. The rod body is guaranteed to be effectively penetrated into the seabed sand wave body all the time, and effective observation is carried out.
The probe rod of the invention can be carried with various observation devices, such as an electrode ring to form a resistivity probe rod, a pore water pressure sensor to monitor the pore water pressure and the like.
The multi-stage penetration type submarine sand wave in-situ observation device and method can more simply and effectively penetrate the observation probe into the seabed of the sand wave development area in the sand wave development area, invert the sand wave change process on the change of the profile through the vertically distributed sensors arranged on the probe, and have important significance for the research of monitoring and early warning schemes of submarine sand wave migration.
In the technical field of submarine observation, the technology of submarine sand wave migration in situ observation based on in situ profile detection in China is still blank at present, the device is a multistage penetration type submarine sand wave in situ observation device which is designed in a targeted manner according to the geological characteristics of a sand wave development area, the penetration method is simple and easy to implement, the gap can be effectively filled, the development of national marine geological disaster prevention and early warning is promoted, and the safety of submarine infrastructure engineering facilities is guaranteed. The invention provides a new observation idea for the in-situ real-time observation of the seabed sand wave migration, provides a new method for the penetration of medium and small seabed sand wave development areas, and has the characteristics of simple and easy equipment, wide applicable water area for in-situ real-time measurement and the like.
Drawings
Fig. 1 is a schematic view of the overall structure of the present invention.
Fig. 2 is a schematic view of the support structure of the present invention.
Fig. 3 is a structural view of the probe of the present invention.
FIG. 4 is a sectional view of the second and third stage penetration devices according to the present invention.
Fig. 5 is a schematic diagram of the circuit connection relationship of the present invention.
FIG. 6 is a schematic view of the observation device and the auxiliary vessel of the present invention.
FIG. 7 is a schematic view of the deployment penetration process of the observation device of the present invention
FIG. 8 is a flow chart of sand migration observation of the present invention
In the figure, 1-supporting cone tip, 2-supporting plate with a balance weight disk, 3-supporting leg, 4-probe rod, 5-current meter, 6-rotating imaging sonar, 7-annular control cabin, 8-supporting steel bar, 9-guiding tube, 10-ejection releaser, 11-Kevlar cable, 12-cable, 13-balance weight cabin, 14-metal ring, 15-laying cable, 16-releaser, 17-penetrating cone tip, 18-insulating rod body, 19-observation sensor probe, 20-lead, 21-annular groove, 22-guiding block, 23-pressure spring, 24-relay switch, 25-connecting rod, 26-energy storage spring, 27-annular platform, 28-auxiliary ship, 29-hoisting device, 30 grooves, 31-tubular body.
Detailed Description
Referring to fig. 1-5, the multi-stage penetration type submarine sand wave in-situ observation device is characterized by comprising a supporting structure and a probe rod 4 with a multi-stage penetration mechanism,
the supporting structure is used for supporting the probe rod 4 to prevent the probe rod from overturning, the bottom of the supporting structure is provided with a plurality of supporting legs 3, the top of the supporting structure is provided with a plurality of mooring ropes 12, the upper end of each mooring rope is connected to the outer side surface of the upper part of the probe rod 4, the supporting structure is provided with a current meter 5 and a rotary imaging sonar 6, the middle part of the supporting structure is an annular control cabin 7 made of corrosion-resistant materials, the annular control cabin 7 surrounds the periphery of the probe rod 4, and an acceleration sensor and an attitude sensor are arranged in the annular control cabin 7,
the middle part of the probe rod 4 is a rod body 18, the bottom of the rod body 18 is provided with a penetrating conical tip 17, the top of the rod body is provided with a release ring 14, the release ring 14 is connected to the bottom of an acoustic releaser 16, the top of the acoustic releaser 16 is connected with a laying cable 15, and the outer side of the upper part of the rod body 18 is also provided with a counterweight cabin 13;
a plurality of annular grooves 21 are formed in the outer side face of the upper portion of the rod body 18, and the annular grooves 21 are used as stress points for applying force to the probe rod 4 downwards;
the counterweight cabin 13 is provided with an acceleration sensor and an attitude sensor; in addition, the power supply, the main processor, the memory, the data acquisition circuit and the sensing circuit are arranged in the annular control cabin 7 or the counterweight cabin 13;
the annular control cabin 7 is connected with two Kevlar cables 11, the first is connected with a counterweight cabin 13 of the feeler lever 4, and the second is connected with an ejection releaser 10 of a second-stage release device;
each acceleration sensor and each attitude sensor are respectively connected with the sensing circuit through a Kevlar cable 11, and the data acquisition circuit and the sensing circuit are respectively connected with the main processor;
the first Kevlar cable 11 is also connected with various detecting instruments 19 arranged on the outer wall or inside the rod body 18 through a wire 20 positioned inside the probe rod 4, and the main processor controls a data acquisition circuit to acquire data observed by the detecting instruments 19;
the multi-stage injection mechanism comprises an acoustic releaser 16 connected to the lower end of the laying cable 15, a second-stage injection device positioned above the annular control cabin 7 and a third-stage injection device connected below the annular control cabin 7; the second-stage injection device and the third-stage injection device are all arranged around the periphery of the probe rod 4;
wherein the second-stage injection device and the third-stage injection device are both composed of a guide tube 9 and an ejection releaser 10 sleeved on the upper part of the guide tube 9;
the ejection releaser 10 comprises a tubular body 31, an annular table 27 is arranged on the upper edge of the tubular body 31, an energy storage pressure spring 26 is arranged on the lower end face of the annular table 27, a connecting rod 25 is arranged on the lower portion of the inner wall of the annular table 27, and the connecting rod 25 is controlled by a relay switch 24 to realize contraction; the relay switch 24 is arranged inside the tubular body 31 and is powered by the annular control cabin 7;
a groove 30 is formed in the outer side of the upper part of the guide pipe 9, the connecting rod 25 extends into the groove 30 to fix the guide pipe 9 on the lower part of the annular table 27, and the lower end of the energy storage pressure spring 26 presses the upper edge of the guide pipe 9;
when the relay switch 24 is switched on, the connecting rod 25 retracts into the release pipe groove 30, and the energy storage compression spring 26 pushes the guide pipe 9 downwards to release;
a plurality of guide blocks 22 are arranged on the lower edge of the guide pipe 9, each guide block 22 is connected to the lower end of the guide pipe 9 through a rotating shaft and can rotate around the axial direction inside the guide pipe 9 until reaching a horizontal position, the upper side of the outer end of each guide block 22 is arc-shaped, and the lower side of the outer end of each guide block 22 is a plane;
the lower side plane of the outer end of the guide block 22 is connected with one end of a pressure spring 23, and the other end of the pressure spring 23 is connected to the guide pipe 9 and provides elastic force capable of rotating upwards for the guide block 22; when the probe rod 4 moves downwards, the guide block 22 has an arc-shaped outer end face, so that the probe rod 4 cannot be blocked, when the probe rod 4 is limited in penetration, the ejection releaser 10 releases the guide tube 9 downwards and provides a downward pushing force, the guide tube 9 moves downwards relative to the probe rod 4, the guide block 22 rotates upwards under the action of the pressure spring 23 and enters an annular groove 21 on the outer side of the probe rod 4, and the lower end face of the guide block 22 pushes the probe rod 4 to move downwards by taking the annular groove 21 as a force application point
The supporting structure comprises a supporting frame, three or more than three supporting legs 3 which are distributed at equal intervals are arranged at the bottom of the supporting frame, supporting conical tips 1 are arranged at the bottoms of the supporting legs, and the annular control cabin 7 is arranged in the middle of the bottom surface of the supporting frame; the galvanometer 5 and the rotating imaging sonar 6 are also mounted on a support frame.
A support plate 2 with a balance weight disc is arranged between the support leg 3 and the support cone tip 1.
The supporting structure further comprises a supporting steel bar 8, and the annular platform 27 is supported by the supporting steel bar 8, so that the secondary penetration device is supported above the annular control cabin 7.
As shown in fig. 6, 7 and 8, the method for performing multi-stage penetration on the probe rod by using the multi-stage penetration type submarine sand wave in-situ observation device is characterized by comprising the following steps:
1) the multistage penetration type submarine sand wave in-situ observation device is hoisted to the surface of the seabed by using a shipborne crane 29 of an auxiliary ship 28, whether a supporting structure touches the surface of the seabed is judged according to an acceleration sensor in an annular control cabin 7, then a probe rod 4 is freely released through an acoustic releaser 16 and is made to penetrate into the sandy seabed at a certain initial speed under the action of gravity, the acceleration sensor in a counterweight cabin 13 receives a bottoming signal and then transmits the bottoming signal to a main processor, and the probe rod 4 starts to work according to a preset mode; the second-stage penetration device enters a state to be triggered;
2) after the work starts, if the sand wave trough gradually moves towards the probe rod 4, the penetration depth of the penetration cone tip 17 relative to the sand wave surface is reduced, the side friction resistance also drops, the probe rod 4 slides downwards after the penetration resistance drops to a certain value, the acceleration sensor in the counterweight chamber 13 monitors the displacement, the secondary penetration device is triggered, the ejection releaser 10 releases the guide tube 9 downwards and provides a downward driving force, the guide tube 9 moves downwards relative to the probe rod 4, the guide block 22 moves upwards under the action of the pressure spring 23 and enters an annular groove 21 on the outer side of the probe rod 4, and the lower end surface of the guide block 22 pushes the probe rod 4 to move downwards by taking the annular groove 21 as a force application point;
when an acceleration sensor in the counterweight cabin 13 of the probe rod 4 receives a bottoming signal, the signal is transmitted to the main processor, and the probe rod 4 starts to work according to a preset mode; the third-stage penetration device enters a state to be triggered;
3) the triggering mode of the third-stage penetration system is the same as the displacement triggering mechanism of the second-stage penetration device;
4) after the in-situ observation period is finished, the observation device is recovered by the underwater unmanned ship with the cable laid down by driving the auxiliary ship 28 to a target point.
The method for multistage penetration is characterized in that a time triggering mechanism is arranged in the step 3), namely after the second stage penetration is finished, the rod body does not generate displacement within set time, and after the set time is reached, whether the acceleration sensor monitors the displacement or not, a third stage penetration device is triggered to further downwards penetrate the probe rod 4.
The method for multistage penetration is characterized in that a time triggering mechanism is arranged in the step 3), namely after the second stage penetration is finished, the rod body does not generate displacement within set time, and after the set time is reached, whether the acceleration sensor monitors the displacement or not, a third stage penetration device is triggered to further downwards penetrate the probe rod 4.
Examples
The probe 4 shown in fig. 3 is a general type, and the operation of the present invention will be described below by taking as an example a resistivity probe in which an electrode ring is attached.
The method for observing the migration change of the submarine sand waves by using the multi-stage injection type submarine sand wave in-situ observation device based on the resistivity probe rod comprises the following steps:
1) indoor calibration test:
1.1) firstly, placing the observation device in a large simulation water tank;
1.2) then simulating the moving process of the real submarine sand waves, precisely measuring the height change of the sand wave surface in the whole process by using a laser range finder, and simultaneously measuring the process by using the probe rod;
1.3) comparing the measurement result of the observation device with the measurement result of the laser range finder to obtain measurement deviation, and establishing the relationship between the observation result of the observation device and the real change of the seabed to obtain a correction coefficient;
2) detecting and setting the observation device to ensure that all sensors are in a normal working state; assembling the supporting structure, the multi-stage injection system and the resistivity probe rod;
3) according to the substrate data and the dynamic penetration data of the target point location, calculating the cone tip resistance and the side friction resistance of the seabed of the point location and determining the penetration degree, designing an annular balance weight according to the calculation, ensuring that the penetration cone tip 17 of the resistivity probe rod can completely enter the seabed under the action of first-stage gravity penetration, and setting the triggering displacement and the triggering time of the second-stage penetration device and the third-stage penetration device;
4) driving the assist vessel to the target point location using the GPS positioning system of the assist vessel 28;
5) the device is hoisted to the seabed surface by using a shipborne crane 29 of an auxiliary ship 28, when a shipborne laying system receives a signal of an acceleration sensor in the annular control cabin 7 touching the seabed surface, the releaser 16 freely releases the resistivity probe rod to enable the resistivity probe rod to penetrate into the sandy seabed at a certain initial speed under the action of gravity, and after the acceleration sensor in the counterweight cabin 13 receives a bottom touching signal, the resistivity probe rod is transmitted to a main processor of the annular control cabin, and the measurement work is started according to a preset period; the second-stage penetration device enters a state to be triggered;
6) after the in-situ observation period begins, if the sand wave trough gradually moves towards the rod body, the penetration depth of the cone tip of the rod body relative to the sand wave surface is reduced, the side frictional resistance is reduced, the resistivity probe rod further slides downwards under the action of self-weight after the penetration resistance is reduced to a certain value, after the acceleration sensor monitors the displacement, the secondary penetration device is triggered, the ejection releaser 10 ejects the guide pipe 9 downwards, the guide block 22 is stressed in the horizontal direction and is buckled with the circular truncated cone structure of the rod body, and the resistivity probe rod is pushed to penetrate downwards;
7) the third-stage injection system is in a state to be triggered after the second-stage injection system is triggered, a time trigger mechanism is added in a trigger mode of the third-stage injection system except for a displacement trigger mechanism which is the same as that of the second-stage injection device, namely after the second-stage injection is finished, a rod body does not generate displacement within set time, the third-stage injection device is triggered when the set time is reached, and the resistivity probe rod is further injected downwards;
8) after the in-situ observation period is finished, the observation device is recovered by driving the auxiliary ship 28 to a target point and placing a cable under the underwater unmanned ship;
9) reading the observation data of the memory, calculating the ocean soil resistivity change process in the whole observation process, then correcting elevation change through the data recorded by the attitude sensor, and performing depth correction through the data recorded by the acceleration sensor to finally obtain the change process of vertical resistivity;
10) the method for determining the wave height of the seabed sand waves comprises the following steps: the part with the largest resistivity is the resistivity of the sea bed, the midpoint between the first maximum value and the last minimum value is the sandy sea bed surface, the upper part is the resistivity of the sea water, and the part with the smallest resistivity is the unaffected sea water. And comparing the data of different measurement periods to obtain the submarine sand wave height change process of the measurement point.
Claims (6)
1. The multistage penetration type submarine sand wave in-situ observation device is characterized by comprising a supporting structure and a probe rod (4) with a multistage penetration mechanism,
the supporting structure is used for supporting the probe rod (4) to prevent the probe rod from overturning, the supporting structure is provided with a plurality of supporting legs (3) at the bottom, a plurality of mooring ropes (12) are arranged at the top of the supporting structure, the upper end of the mooring rope is connected to the outer side surface of the upper part of the probe rod (4), a current meter (5) and a rotary imaging sonar (6) are carried on the supporting structure, the middle part of the supporting structure is an annular control cabin (7) made of corrosion-resistant materials, the annular control cabin (7) surrounds the periphery of the probe rod (4), and an acceleration sensor and an attitude sensor are arranged in the annular control cabin (7),
the middle part of the probe rod (4) is provided with a rod body (18), the bottom of the rod body (18) is provided with a penetrating conical tip (17), the top of the rod body is provided with a release ring (14), the release ring (14) is connected to the bottom of the acoustic releaser (16), the top of the acoustic releaser (16) is connected with a cloth release cable (15), and the outer side of the upper part of the rod body (18) is also provided with a counterweight cabin (13);
a plurality of annular grooves (21) are formed in the outer side face of the upper portion of the rod body (18), and the annular grooves (21) are used as stress points for downward force application on the probe rod (4);
the counterweight cabin (13) is provided with an acceleration sensor and an attitude sensor; in addition, the device also comprises a power supply, a main processor, a memory, a data acquisition circuit and a sensing circuit, wherein the components are arranged in the annular control cabin (7) or the counterweight cabin (13);
the annular control cabin (7) is connected with two Kevlar cables (11), the first is connected with a counterweight cabin (13) of the feeler lever (4), and the second is connected with an ejection releaser (10) of a second-stage release device;
each acceleration sensor and each attitude sensor are respectively connected with the sensing circuit through a Kevlar cable (11), and the data acquisition circuit and the sensing circuit are respectively connected with the main processor;
the first Kevlar cable (11) is also connected with various detecting instruments (19) arranged on the outer wall or inside the rod body (18) through a wire (20) positioned inside the probe rod (4), and the main processor controls the data acquisition circuit to acquire data observed by the detecting instruments (19);
the multi-stage injection mechanism comprises an acoustic releaser (16) connected to the lower end of the laying cable (15), a second-stage injection device positioned above the annular control cabin (7) and a third-stage injection device connected below the annular control cabin (7); the second-stage injection device and the third-stage injection device are all arranged around the periphery of the probe rod (4);
wherein the second-stage injection device and the third-stage injection device are both composed of a guide pipe (9) and an ejection releaser (10) sleeved on the upper part of the guide pipe (9);
the ejection releaser (10) comprises a tubular body (31), an annular table (27) is arranged on the upper edge of the tubular body (31), an energy storage pressure spring (26) is arranged on the lower end face of the annular table (27), a connecting rod (25) is arranged on the lower portion of the inner wall of the annular table (27), and the connecting rod (25) is controlled by a relay switch (24) to realize contraction; the relay switch (24) is arranged in the tubular body (31), is powered by the annular control cabin (7) and is controlled by the main processor;
a groove (30) is formed in the outer side of the upper portion of the guide pipe (9), the guide pipe (9) is fixed to the lower portion of the annular table (27) through the connecting rod (25) stretching into the groove (30), and the lower end of the energy storage pressure spring (26) is pressed on the upper edge of the guide pipe (9);
when the relay switch (24) is switched on, the connecting rod (25) retracts into the groove (30), and the energy storage compression spring (26) pushes the guide pipe (9) downwards to release;
a plurality of guide blocks (22) are arranged on the lower edge of the guide pipe (9), each guide block (22) is connected to the lower end of the guide pipe (9) through a rotating shaft and can rotate around the inside of the axial guide pipe (9) until reaching a horizontal position, the upper side of the outer end of each guide block (22) is arc-shaped, and the lower side of the outer end of each guide block (22) is a plane;
the lower side plane of the outer end of the guide block (22) is connected with one end of a pressure spring (23), and the other end of the pressure spring (23) is connected to the guide pipe (9) and provides elastic force capable of rotating upwards for the guide block (22); when probe rod (4) move downwards, because of guide block (22) have curved outer terminal surface, can not produce and block probe rod (4), when probe rod (4) penetration is restricted, launch releaser (10) and release guide tube (9) downwards to provide decurrent pushing force, guide tube (9) move downwards for probe rod (4), guide block (22) upwards rotatory under pressure spring (23)'s effect this moment to go into an annular groove (21) in probe rod (4) outside, the lower terminal surface of guide block (22) uses annular groove (21) to promote probe rod (4) to move downwards as the point of application of force.
2. The device as claimed in claim 1, wherein the supporting structure comprises a supporting frame, the bottom of the supporting frame is provided with three or more supporting legs (3) which are distributed at equal intervals, the bottom of each supporting leg is provided with a supporting cone tip (1), and the annular control cabin (7) is arranged in the middle of the bottom surface of the supporting frame; the current meter (5) and the rotational imaging sonar (6) are also mounted on a support frame.
3. The device as claimed in claim 2, characterized in that a support plate (2) with a counterweight disk is arranged between the support leg (3) and the support cone tip (1).
4. The apparatus as claimed in claim 1, wherein said support structure further comprises support bars (8), and said annular table (27) is supported by said support bars (8) to support said secondary penetration means above the annular control chamber (7).
5. The method for performing multi-stage penetration on the probe rod by using the multi-stage penetration type submarine sand wave in-situ observation device of claim 1, which is characterized by comprising the following steps of:
1) the multistage penetration type submarine sand wave in-situ observation device is hoisted to the surface of the seabed by using a shipborne crane (29) of an auxiliary ship (28), whether a supporting structure touches the surface of the seabed is judged according to an acceleration sensor in an annular control cabin (7), then a probe rod (4) is freely released through an acoustic releaser (16) to penetrate into the sandy seabed at a certain initial speed under the action of gravity, the acceleration sensor in a counterweight cabin (13) receives a bottoming signal and then transmits the bottoming signal to a main processor, and the probe rod (4) starts to work according to a preset mode; the second-stage penetration device enters a state to be triggered;
2) after the work is started, if sand wave troughs gradually move towards the probe rod (4), the penetration depth of the penetration cone tip (17) relative to the sand wave surface is reduced, the side friction resistance also descends, the probe rod (4) slides downwards after the penetration resistance is reduced to a certain value, an acceleration sensor in the counterweight cabin (13) monitors the position and the displacement, a secondary penetration device is triggered, a releaser (10) releases a guide pipe (9) downwards and provides a downward driving force, the guide pipe (9) moves downwards relative to the probe rod (4), at the moment, a guide block (22) moves upwards under the action of a pressure spring (23) and enters an annular groove (21) on the outer side of the probe rod (4), and the lower end surface of the guide block (22) pushes the probe rod (4) to move downwards by taking the annular groove (21) as a force application point;
when an acceleration sensor in a counterweight cabin (13) of the probe rod (4) receives a bottoming signal, the signal is transmitted to a main processor, and the probe rod (4) starts to work according to a preset mode; the third-stage penetration device enters a state to be triggered;
3) the triggering mode of the third-stage penetration system is the same as the displacement triggering mechanism of the second-stage penetration device;
4) after the in-situ observation period is finished, the auxiliary ship (28) is driven to the target point position, and the observation device is recovered by the underwater unmanned ship with the cable arranged below.
6. The method of multistage penetration as claimed in claim 5, wherein a time trigger mechanism is further provided in step 3), that is, after the second stage penetration is completed, the rod body does not displace within a set time, and after the set time is reached, the third stage penetration device is triggered to further penetrate the probe rod (4) downward regardless of whether the displacement is detected by the acceleration sensor.
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| CN110512586B (en) * | 2019-08-19 | 2021-04-27 | 东南大学 | Ejection type T-shaped full-flow injection device |
| CN110850479B (en) * | 2019-11-26 | 2020-06-16 | 自然资源部第一海洋研究所 | Three-dimensional resistivity in-situ monitoring probe |
| CN111721581B (en) * | 2020-06-18 | 2021-04-20 | 中国海洋大学 | Seabed sand wave sediment sampling device and method |
| CN111896468B (en) * | 2020-08-06 | 2022-05-06 | 中国海洋大学 | Control system of full-sea-depth in-situ detection device |
| CN113484916A (en) * | 2021-07-19 | 2021-10-08 | 中国海洋大学 | Pore pressure observation device for recognizing seabed interface based on natural potential method and working method |
| CN114235056B (en) * | 2021-12-30 | 2022-08-09 | 中国海洋大学 | Remote monitoring and early warning station for bay ecological environment and working method thereof |
| CN114739366B (en) * | 2022-04-15 | 2023-07-07 | 山东海慧勘察测绘有限公司 | MBES-based submarine sand wave landform motion detection device |
| CN115752339A (en) * | 2022-11-11 | 2023-03-07 | 广州市市政工程设计研究总院有限公司 | Underwater rock drilling penetration depth measuring method and rock drilling hammer |
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